diff --git a/doc/main/ev3devices.rst b/doc/main/ev3devices.rst
index 0d9d9c4..2817349 100644
--- a/doc/main/ev3devices.rst
+++ b/doc/main/ev3devices.rst
@@ -20,12 +20,12 @@ Motors
 
     .. rubric:: Measuring
 
-    .. automethod:: pybricks.ev3devices.Motor.speed
-
     .. automethod:: pybricks.ev3devices.Motor.angle
 
     .. automethod:: pybricks.ev3devices.Motor.reset_angle
 
+    .. automethod:: pybricks.ev3devices.Motor.speed
+
     .. automethod:: pybricks.ev3devices.Motor.load
 
     .. automethod:: pybricks.ev3devices.Motor.stalled
diff --git a/doc/main/pupdevices/motor.rst b/doc/main/pupdevices/motor.rst
index ad8de13..89cbc70 100644
--- a/doc/main/pupdevices/motor.rst
+++ b/doc/main/pupdevices/motor.rst
@@ -18,12 +18,12 @@ Motors with rotation sensors
 
     .. rubric:: Measuring
 
-    .. automethod:: pybricks.pupdevices.Motor.speed
-
     .. automethod:: pybricks.pupdevices.Motor.angle
 
     .. automethod:: pybricks.pupdevices.Motor.reset_angle
 
+    .. automethod:: pybricks.pupdevices.Motor.speed
+
     .. automethod:: pybricks.pupdevices.Motor.load
 
     .. automethod:: pybricks.pupdevices.Motor.stalled
diff --git a/jedi/tests/test_get_signature.py b/jedi/tests/test_get_signature.py
index 2477606..7f82bc3 100644
--- a/jedi/tests/test_get_signature.py
+++ b/jedi/tests/test_get_signature.py
@@ -543,7 +543,12 @@ METHOD_PARAMS = [
         "settings",
         [(["max_voltage: Number"], "None"), ([], "Tuple[int]")],
     ),
-    pytest.param("pybricks.pupdevices", "Motor", "speed", [([], "int")]),
+    pytest.param(
+        "pybricks.pupdevices",
+        "Motor",
+        "speed",
+        [(["window: Number=100"], "int")],
+    ),
     pytest.param("pybricks.pupdevices", "Motor", "angle", [([], "int")]),
     pytest.param(
         "pybricks.pupdevices",
diff --git a/src/pybricks/_common.py b/src/pybricks/_common.py
index cf1cad0..d6193c5 100644
--- a/src/pybricks/_common.py
+++ b/src/pybricks/_common.py
@@ -408,11 +408,19 @@ class Motor(DCMotor):
             Motor angle.
         """
 
-    def speed(self) -> int:
-        """speed() -> int: deg/s
+    def speed(self, window: Number = 100) -> int:
+        """speed(window=100) -> int: deg/s
 
         Gets the speed of the motor.
 
+        The speed is measured as the change in the motor angle during the
+        given time window. A short window makes the speed value more
+        responsive to motor movement, but less steady. A long window makes the
+        speed value less responsive, but more steady.
+
+        Arguments:
+            window (Number, ms): The time window used to determine the speed.
+
         Returns:
             Motor speed.