I don't think you can control whether a relay is used in circuits to hidden services vs. only in circuits to exit nodes.
[...] I enable criminals and people of poor moral character [...] I run Tor so people in less fortunate countries have full access to information [...]
By running a relay, you enable people who don't want to be identified or located and who don't want anyone other than the intended recipient see their data. It is important that this can be achieved, so therefor it is a Good Thing to run Tor relays.
It is a little bit of a stretch that access to a HS enables criminals and access to non-hidden services does not. It follows the logic that something must be bad if it is hidden, otherwise why would you hide it? (*) Not only is this logic flawed (if A implies B and B is true, you can not conclude that A must be true) is it also very scary when it comes to privacy and freedom. (You could apply that same logic to those people in those less fortunate countries, who by the way may well be criminals from the point of view of their own governments.)
My personal take is to not speculate or pass judgment on the data that may flow through my relay. There may be some nastiness in there but that doesn't mean it should be impossible to keep your identity / location / traffic / data private.
) ..altho you're probably correct that HS' would on average have a higher percentage of content that you would object to than the web as a whole.