diff --git a/include/hardware/Motor/Motor.hpp b/include/hardware/Motor/Motor.hpp
index b40b4e5..a914055 100644
--- a/include/hardware/Motor/Motor.hpp
+++ b/include/hardware/Motor/Motor.hpp
@@ -478,6 +478,23 @@ class Motor : public Encoder {
          * @endcode
          */
         Temperature getTemperature() const;
+        /**
+         * @brief set the output velocity of the motor
+         *
+         * @param outputVelocity the theoretical maximum output velocity of the motor, after gearing, to set
+         * @return int 0 success
+         * @return INT_MAX error occurred, setting errno
+         *
+         * @b Example:
+         * @code {.cpp}
+         * void initialize() {
+         *     lemlib::Motor motor(1, 360_rpm);
+         *     // set the output velocity to 450 rpm
+         *     motor.setOutputVelocity(450_rpm);
+         * }
+         * @endcode
+         */
+        int setOutputVelocity(AngularVelocity outputVelocity);
     private:
         AngularVelocity m_outputVelocity;
         Angle m_offset = 0_stDeg;
diff --git a/include/hardware/Motor/MotorGroup.hpp b/include/hardware/Motor/MotorGroup.hpp
index fced502..ff488d7 100644
--- a/include/hardware/Motor/MotorGroup.hpp
+++ b/include/hardware/Motor/MotorGroup.hpp
@@ -1,5 +1,6 @@
 #include "pros/motor_group.hpp"
 #include "hardware/Motor/Motor.hpp"
+#include "units/Angle.hpp"
 #include <vector>
 
 namespace lemlib {
@@ -333,6 +334,23 @@ class MotorGroup : Encoder {
          * @endcode
          */
         std::vector<Temperature> getTemperatures();
+        /**
+         * @brief set the output velocity of the motors
+         *
+         * @param outputVelocity the theoretical maximum output velocity of the motor group, after gearing, to set
+         * @return int 0 success
+         * @return INT_MAX error occurred, setting errno
+         *
+         * @b Example:
+         * @code {.cpp}
+         * void initialize() {
+         *     lemlib::MotorGroup motorGroup({1, -2, 3}, 360_rpm);
+         *     // set the output velocity to 450 rpm
+         *     motorGroup.setOutputVelocity(450_rpm);
+         * }
+         * @endcode
+         */
+        int setOutputVelocity(AngularVelocity outputVelocity);
         /**
          * @brief Get the number of connected motors in the group
          *
@@ -495,7 +513,7 @@ class MotorGroup : Encoder {
          * @return const std::vector<Motor> vector of lemlib::Motor objects
          */
         const std::vector<Motor> getMotors();
-        const AngularVelocity m_outputVelocity;
+        AngularVelocity m_outputVelocity;
         /**
          * This member variable is a vector of motor information
          *
diff --git a/src/hardware/Motor/Motor.cpp b/src/hardware/Motor/Motor.cpp
index f7177c1..1a85a6c 100644
--- a/src/hardware/Motor/Motor.cpp
+++ b/src/hardware/Motor/Motor.cpp
@@ -175,4 +175,12 @@ Temperature Motor::getTemperature() const {
     if (result.internal() == INFINITY) return result; // error checking
     return result;
 }
+
+// Always returns 0 because the velocity setter is not dependent on hardware and should never fail
+int Motor::setOutputVelocity(AngularVelocity outputVelocity) {
+    Angle angle = getAngle();
+    m_outputVelocity = outputVelocity;
+    setAngle(angle);
+    return 0;
+}
 } // namespace lemlib
\ No newline at end of file
diff --git a/src/hardware/Motor/MotorGroup.cpp b/src/hardware/Motor/MotorGroup.cpp
index 4fb637f..9e80b35 100644
--- a/src/hardware/Motor/MotorGroup.cpp
+++ b/src/hardware/Motor/MotorGroup.cpp
@@ -4,6 +4,7 @@
 #include "units/Temperature.hpp"
 #include <climits>
 #include <cmath>
+#include <cstdint>
 #include <errno.h>
 
 namespace lemlib {
@@ -144,6 +145,14 @@ std::vector<Temperature> MotorGroup::getTemperatures() {
     return temperatures;
 }
 
+// Always returns 0 because the velocity setter is not dependent on hardware and should never fail
+int MotorGroup::setOutputVelocity(AngularVelocity outputVelocity) {
+    Angle angle = getAngle();
+    m_outputVelocity = outputVelocity;
+    setAngle(angle);
+    return 0;
+}
+
 int MotorGroup::getSize() {
     const std::vector<Motor> motors = getMotors();
     int size = 0;