diff --git a/src/builder.rs b/src/builder.rs
index 55cc50c..3b8ccc5 100644
--- a/src/builder.rs
+++ b/src/builder.rs
@@ -549,12 +549,22 @@ mod test {
 
         let message = MessageBuilder::new()
             .id(0xFD)
-            .s_jog(60, JogMode::Continuous { speed: 320 }, JogColor::Blue, 0xFD)
+            .s_jog(60, JogMode::Continuous { speed: 320, rotation: Rotation::CounterClockwise }, JogColor::Blue, 0xFD)
             .build();
 
         assert_eq!(
             message.as_slice(),
             &[0xFF, 0xFF, 0x0C, 0xFD, 0x06, 124, 130, 0x3C, 0x40, 0x01, 0x0A, 0xFD,]
+        );
+
+        let message = MessageBuilder::new()
+            .id(0xFD)
+            .s_jog(60, JogMode::Continuous { speed: 320, rotation: Rotation::Clockwise }, JogColor::Blue, 0xFD)
+            .build();
+
+        assert_eq!(
+            message.as_slice(),
+            &[0xFF, 0xFF, 0x0C, 0xFD, 0x06, 0x3C, 0xC2, 0x3C, 0x40, 0x41, 0x0A, 0xFD,]
         )
     }
 
@@ -571,11 +581,20 @@ mod test {
 
         let message = MessageBuilder::new()
             .id(0xFD)
-            .i_jog(60, JogMode::Continuous { speed: 320 }, JogColor::Blue, 0xFD)
+            .i_jog(60, JogMode::Continuous { speed: 320, rotation: Rotation::CounterClockwise }, JogColor::Blue, 0xFD)
             .build();
         assert_eq!(
             message.as_slice(),
             &[0xFF, 0xFF, 0x0C, 0xFD, 0x05, 0x7E, 0x80, 0x40, 0x01, 0x0A, 0xFD, 0x3C,]
+        );
+
+        let message = MessageBuilder::new()
+            .id(0xFD)
+            .i_jog(60, JogMode::Continuous { speed: 320, rotation: Rotation::Clockwise }, JogColor::Blue, 0xFD)
+            .build();
+        assert_eq!(
+            message.as_slice(),
+            &[0xFF, 0xFF, 0x0C, 0xFD, 0x05, 0x3E, 0xC0, 0x40, 0x41, 0x0A, 0xFD, 0x3C,]
         )
     }
 
diff --git a/src/lib.rs b/src/lib.rs
index 13a439c..d0fa3c3 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -12,7 +12,7 @@
 //! use drs_0x01::*;
 //!
 //! let servo = Servo::new(0x40);
-//! let message = servo.set_speed(512);
+//! let message = servo.set_speed(512, Rotation::Clockwise);
 //! ```
 //!
 //! To reboot all the servomotors you can use this message :
@@ -53,5 +53,5 @@ pub mod reader;
 mod servo;
 
 pub use addr::{ReadableEEPAddr, ReadableRamAddr, WritableEEPAddr, WritableRamAddr};
-pub use message::{JogColor, JogMode};
+pub use message::{JogColor, JogMode, Rotation};
 pub use servo::Servo;
diff --git a/src/message.rs b/src/message.rs
index f40d404..29c4c1a 100644
--- a/src/message.rs
+++ b/src/message.rs
@@ -34,6 +34,15 @@ pub enum Rollback {
     SkipNone,
 }
 
+/// This represent the rotation sense of the servomotor while controlled in `Speed`.
+#[derive(Debug)]
+pub enum Rotation {
+    /// CounterClockwise rotation, which is the default rotation sense.
+    CounterClockwise,
+    /// Clockwise rotation, representing the inverted rotation.
+    Clockwise,
+}
+
 /// This represent the servomotor control mode.
 /// The servomotor is either controlled in `Position` or `Speed`.
 #[derive(Debug)]
@@ -52,6 +61,8 @@ pub enum JogMode {
         /// The desired PWM value.
         /// The value must be in the 0..1023 range
         speed: u16,
+        /// Inverts the rotation sense of the servo by modifying the 14th bit.
+        rotation: Rotation,
     },
 }
 
@@ -59,7 +70,8 @@ impl JogMode {
     pub(crate) fn associated_data(&self) -> u16 {
         match *self {
             JogMode::Normal { position } => position,
-            JogMode::Continuous { speed } => speed,
+            JogMode::Continuous { speed, rotation: Rotation::Clockwise } => 0x4000 | speed,
+            JogMode::Continuous { speed, rotation: Rotation::CounterClockwise } => speed,
         }
     }
 }
diff --git a/src/servo.rs b/src/servo.rs
index 5859e8e..66bdf71 100644
--- a/src/servo.rs
+++ b/src/servo.rs
@@ -1,6 +1,6 @@
 use builder::{HerkulexMessage, MessageBuilder};
 
-use message::{JogColor, JogMode};
+use message::{JogColor, JogMode, Rotation};
 
 use addr::*;
 
@@ -47,7 +47,7 @@ impl Servo {
 
     /// Request the servo to go to a position.
     /// The value can be between 0 and 1023 but should be between 21 and 1002 if you don't want
-    /// the servomotor fo go in error mode.
+    /// the servomotor to go in error mode.
     pub fn set_position(self, position: u16) -> HerkulexMessage {
         MessageBuilder::new_with_id(self.id)
             .s_jog(
@@ -62,12 +62,13 @@ impl Servo {
 
     /// Request the servo to have a certain speed.
     /// The value should be between 0 and 1023.
-    pub fn set_speed(self, speed: u16) -> HerkulexMessage {
+    pub fn set_speed(self, speed: u16, rotation: Rotation) -> HerkulexMessage {
         MessageBuilder::new_with_id(self.id)
             .s_jog(
                 60,
                 JogMode::Continuous {
                     speed: min(speed, 1023),
+                    rotation
                 },
                 JogColor::Blue,
                 self.id,