diff --git a/docs/tests/motors.ts b/docs/tests/motors.ts
new file mode 100644
index 00000000..cff15a26
--- /dev/null
+++ b/docs/tests/motors.ts
@@ -0,0 +1,66 @@
+let errors: string[] = [];
+let tachoB = 0;
+let tachoC = 0;
+
+function assert(name: string, condition: boolean) {
+    if (!condition) {
+        errors.push(name)
+    }
+}
+
+function assertClose(name: string, expected: number, actual: number, tolerance = 10) {
+    assert(name + ` ${expected}/${actual}`, Math.abs(expected - actual) < tolerance);
+}
+
+function test(name: string, f: () => void, check?: () => void) {
+    motors.stopAllMotors();
+    loops.pause(500);
+    tachoB = motors.largeB.tachoCount()
+    tachoC = motors.largeB.tachoCount()
+    brick.clearScreen()
+    brick.print(name, 0, 0)
+    f();
+    loops.pause(3000);
+    motors.stopAllMotors();
+    motors.largeB.setReversed(false);
+    motors.largeC.setReversed(false);
+    motors.mediumA.setReversed(false);
+    loops.pause(1000);
+    if (check)
+        check()
+}
+
+brick.buttonEnter.onEvent(ButtonEvent.Click, function () {
+    test("lgB set speed 100", () => {
+        motors.largeB.setSpeed(100)
+    });
+    test("lgB set speed (reversed)", () => {
+        motors.largeB.setReversed(true)
+        motors.largeB.setSpeed(100)
+    })
+    test("lgBC set speed 100", () => {
+        motors.largeBC.setSpeed(100)
+    })
+    test("lgBC steer 50% 2x", () => {
+        motors.largeBC.steer(50, 50, 2, MoveUnit.Rotations)
+    }, () => {
+        assertClose("largeB", 720, motors.largeB.tachoCount() - tachoB)
+    });
+    test("lgBC steer 50% 500deg", () => {
+        motors.largeBC.steer(50, 50, 500, MoveUnit.Degrees)
+    }, () => {
+        assertClose("largeB", 500, motors.largeB.tachoCount() - tachoB)
+    });
+    test("lgBC steer 50% 2s", () => {
+        motors.largeBC.steer(50, 50, 2, MoveUnit.Seconds)
+    })
+    test("lgBC tank 50% 2s", () => {
+        motors.largeBC.tank(50, 50, 720, MoveUnit.Degrees)
+    })
+
+    brick.clearScreen()
+    brick.print(`${errors.length} errors`, 0, 0)
+    let l = 1;
+    for(const error of errors)
+        brick.print(`error: ${error}`, 0, l++ * 12)
+})