diff --git a/src/devices/basicmotor.ts b/src/devices/basicmotor.ts
index eb3be90..922d00f 100644
--- a/src/devices/basicmotor.ts
+++ b/src/devices/basicmotor.ts
@@ -15,8 +15,8 @@ export class BasicMotor extends Device {
 
 
     /**
-     * Set the motor speed.
-     * @method BasicMotor#power
+     * Set the motor power.
+     * @method BasicMotor#setPower
      * @param {number} power For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. Stop is 0.
      * @returns {Promise} Resolved upon successful completion of command.
      */
diff --git a/src/devices/tachomotor.ts b/src/devices/tachomotor.ts
index 3b22e50..a675a5b 100644
--- a/src/devices/tachomotor.ts
+++ b/src/devices/tachomotor.ts
@@ -27,6 +27,46 @@ export class TachoMotor extends BasicMotor {
         }
     }
 
+    /**
+     * Set the motor speed.
+     * @method TachoMotor#setSpeed
+     * @param {number} speed For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. Stop is 0.
+     * @returns {Promise} Resolved upon successful completion of command.
+     */
+    public setSpeed (speed: [number, number] | number, time: number | undefined) {
+        if (!this.isVirtualPort && speed instanceof Array) {
+            throw new Error("Only virtual ports can accept multiple speeds");
+        }
+        if (this.isWeDo2SmartHub) {
+            throw new Error("Motor speed is not available on the WeDo 2.0 Smart Hub");
+        }
+        return new Promise((resolve) => {
+            this._busy = true;
+            if (speed === undefined || speed === null) {
+                speed = 100;
+            }
+            let message;
+            if (time !== undefined) {
+                if (speed instanceof Array) {
+                    message = Buffer.from([0x81, this.portId, 0x11, 0x0a, 0x00, 0x00, mapSpeed(speed[0]), mapSpeed(speed[1]), 0x64, 0x7f, 0x03]);
+                } else {
+                    message = Buffer.from([0x81, this.portId, 0x11, 0x09, 0x00, 0x00, mapSpeed(speed), 0x64, 0x7f, 0x03]);
+                }
+                message.writeUInt16LE(time, 4);
+            } else {
+                if (speed instanceof Array) {
+                    message = Buffer.from([0x81, this.portId, 0x11, 0x08, mapSpeed(speed[0]), mapSpeed(speed[1]), 0x64, 0x7f, 0x03]);
+                } else {
+                    message = Buffer.from([0x81, this.portId, 0x11, 0x07, mapSpeed(speed), 0x64, 0x03, 0x64, 0x7f, 0x03]);
+                }
+            }
+            this.send(message);
+            this._finished = () => {
+                return resolve();
+            };
+        });
+    }
+
     /**
      * Rotate a motor by a given angle.
      * @method TachoMotor#rotateByAngle
@@ -34,13 +74,24 @@ export class TachoMotor extends BasicMotor {
      * @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 (angle: number, speed: number = 100) {
+    public rotateByAngle (angle: number, speed: [number, number] | number) {
+        if (!this.isVirtualPort && speed instanceof Array) {
+            throw new Error("Only virtual ports can accept multiple speeds");
+        }
         if (this.isWeDo2SmartHub) {
             throw new Error("Angle rotation is not available on the WeDo 2.0 Smart Hub");
         }
         return new Promise((resolve) => {
             this._busy = true;
-            const message = Buffer.from([0x81, this.portId, 0x11, 0x0b, 0x00, 0x00, 0x00, 0x00, mapSpeed(speed), 0x64, 0x7f, 0x03]);
+            if (speed === undefined || speed === null) {
+                speed = 100;
+            }
+            let message;
+            if (speed instanceof Array) {
+                message = Buffer.from([0x81, this.portId, 0x11, 0x0c, 0x00, 0x00, 0x00, 0x00, mapSpeed(speed[0]), mapSpeed(speed[1]), 0x64, 0x7f, 0x03]);
+            } else {
+                message = Buffer.from([0x81, this.portId, 0x11, 0x0b, 0x00, 0x00, 0x00, 0x00, mapSpeed(speed), 0x64, 0x7f, 0x03]);
+            }
             message.writeUInt32LE(angle, 4);
             this.send(message);
             this._finished = () => {
diff --git a/src/hubs/lpf2hub.ts b/src/hubs/lpf2hub.ts
index bd56b4e..2f503df 100644
--- a/src/hubs/lpf2hub.ts
+++ b/src/hubs/lpf2hub.ts
@@ -106,7 +106,7 @@ export class LPF2Hub extends BaseHub {
         if (firstDevice.type !== secondDevice.type) {
             throw new Error(`Both devices must be of the same type to create a virtual port`);
         }
-        this.send(Buffer.from([0x61, 0x01, firstPortId, secondPortId]), Consts.BLECharacteristic.LPF2_ALL);
+        this.send(Buffer.from([0x61, 0x01, firstDevice.portId, secondDevice.portId]), Consts.BLECharacteristic.LPF2_ALL);
     }