diff --git a/src/colordistancesensor.ts b/src/colordistancesensor.ts
index e1633be..2d2fc6d 100644
--- a/src/colordistancesensor.ts
+++ b/src/colordistancesensor.ts
@@ -12,19 +12,65 @@ export class ColorDistanceSensor extends Device {
             if (this.autoSubscribe) {
                 switch (event) {
                     case "color":
-                        this.subscribe(0x00);
+                        this.subscribe(0x08);
                         break;
                     case "distance":
-                        this.subscribe(0x01);
+                        this.subscribe(0x08);
+                        break;
+                    case "colorAndDistance":
+                        this.subscribe(0x08);
                         break;
                 }
             }
         });
-
     }
 
     public receive (message: Buffer) {
-        // NK TODO
+        const mode = this._mode;
+
+        switch (mode) {
+            case 0x08:
+                /**
+                 * Emits when a color sensor is activated.
+                 * @event ColorDistanceSensor#color
+                 * @param {string} port
+                 * @param {Color} color
+                 */
+                if (message[4] <= 10) {
+                    const color = message[4];
+                    this.emit("color", color);
+                }
+
+                let distance = message[5];
+                const partial = message[7];
+
+                if (partial > 0) {
+                    distance += 1.0 / partial;
+                }
+
+                distance = Math.floor(distance * 25.4) - 20;
+
+                /**
+                 * Emits when a distance sensor is activated.
+                 * @event ColorDistanceSensor#distance
+                 * @param {string} port
+                 * @param {number} distance Distance, in millimeters.
+                 */
+                this.emit("distance", distance);
+
+                /**
+                 * A combined color and distance event, emits when the sensor is activated.
+                 * @event ColorDistanceSensor#colorAndDistance
+                 * @param {string} port
+                 * @param {Color} color
+                 * @param {number} distance Distance, in millimeters.
+                 */
+                if (message[4] <= 10) {
+                    const color = message[4];
+                    this.emit("colorAndDistance", color, distance);
+                }
+                break;
+        }
     }
 
 }
diff --git a/src/controlpluslargemotor.ts b/src/controlpluslargemotor.ts
index 8fcccec..66077b7 100644
--- a/src/controlpluslargemotor.ts
+++ b/src/controlpluslargemotor.ts
@@ -2,8 +2,9 @@ import { BasicMotor } from "./basicmotor";
 import { Hub } from "./hub";
 
 import * as Consts from "./consts";
+import { TachoMotor } from "./tachomotor";
 
-export class ControlPlusLargeMotor extends BasicMotor {
+export class ControlPlusLargeMotor extends TachoMotor {
 
     constructor (hub: Hub, portId: number) {
         super(hub, portId, Consts.DeviceType.CONTROL_PLUS_LARGE_MOTOR);
diff --git a/src/device.ts b/src/device.ts
index 1579c74..bbf8760 100644
--- a/src/device.ts
+++ b/src/device.ts
@@ -7,6 +7,8 @@ export class Device extends EventEmitter {
 
     public autoSubscribe: boolean = true;
 
+    protected _mode: number = 0x00;
+
     private _hub: Hub;
     private _portId: number;
     private _connected: boolean = true;
@@ -57,7 +59,10 @@ export class Device extends EventEmitter {
     }
 
     public subscribe (mode: number) {
-        this.send(Buffer.from([0x41, this.portId, mode, 0x01, 0x00, 0x00, 0x00, 0x01]));
+        if (mode !== this._mode) {
+            this._mode = mode;
+            this.send(Buffer.from([0x41, this.portId, mode, 0x01, 0x00, 0x00, 0x00, 0x01]));
+        }
     }
 
     public receive (message: Buffer) {
diff --git a/src/tachomotor.ts b/src/tachomotor.ts
new file mode 100644
index 0000000..32240cd
--- /dev/null
+++ b/src/tachomotor.ts
@@ -0,0 +1,55 @@
+import { BasicMotor } from "./basicmotor";
+import { Hub } from "./hub";
+
+import * as Consts from "./consts";
+import { mapSpeed } from "./utils";
+
+export class TachoMotor extends BasicMotor {
+
+    constructor (hub: Hub, portId: number, type: number = Consts.DeviceType.UNKNOWN) {
+        super(hub, portId, type);
+
+        this.on("newListener", (event) => {
+            if (this.autoSubscribe) {
+                switch (event) {
+                    case "rotate":
+                        this.subscribe(0x02);
+                        break;
+                }
+            }
+        });
+    }
+
+    public receive (message: Buffer) {
+        const mode = this._mode;
+
+        switch (mode) {
+            case 0x02:
+                const rotation = message.readInt32LE(4);
+                /**
+                 * Emits when a rotation sensor is activated.
+                 * @event TachoMotor#rotate
+                 * @param {number} rotation
+                 */
+                this.emit("rotate", rotation);
+                break;
+        }
+    }
+
+    /**
+     * Rotate a motor by a given angle.
+     * @method TachoMotor#setMotorAngle
+     * @param {number} angle How much the motor should be rotated (in degrees).
+     * @param {number} [speed=100] For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100.
+     * @returns {Promise} Resolved upon successful completion of command (ie. once the motor is finished).
+     */
+    public rotateByAngle (port: string, angle: number, speed: number = 100) {
+        return new Promise((resolve) => {
+            const message = Buffer.from([0x81, this.portId, 0x11, 0x0b, 0x00, 0x00, 0x00, 0x00, mapSpeed(speed), 0x64, 0x7f, 0x03]);
+            message.writeUInt32LE(angle, 4);
+            this.send(message);
+            return resolve();
+        });
+    }
+
+}