diff --git a/pylgbst/__init__.py b/pylgbst/__init__.py
index 307b683..3a81ae6 100644
--- a/pylgbst/__init__.py
+++ b/pylgbst/__init__.py
@@ -8,8 +8,17 @@ log = logging.getLogger('movehub')
 class MoveHub(object):
     """
     :type connection: pylegoboost.comms.Connection
-    :type led: LED
     :type devices: dict[int,Peripheral]
+    :type led: LED
+    :type tilt_sensor: TiltSensor
+    :type button: Button
+    :type color_distance_sensor: ColorDistanceSensor
+    :type external_motor: EncodedMotor
+    :type port_C: Peripheral
+    :type port_D: Peripheral
+    :type motor_A: EncodedMotor
+    :type motor_B: EncodedMotor
+    :type motor_AB: EncodedMotor
     """
 
     def __init__(self, connection=None):
@@ -20,6 +29,7 @@ class MoveHub(object):
         self.devices = {}
 
         # shorthand fields
+        self.button = Button(self)
         self.led = None
         self.motor_A = None
         self.motor_B = None
@@ -27,20 +37,25 @@ class MoveHub(object):
         self.tilt_sensor = None
         self.color_distance_sensor = None
         self.external_motor = None
-        self.button = Button(self)
+        self.port_C = None
+        self.port_D = None
 
+        self._wait_for_devices()
+
+    def _wait_for_devices(self):
         # enables notifications reading
         self.connection.set_notify_handler(self._notify)
         self.connection.write(ENABLE_NOTIFICATIONS_HANDLE, ENABLE_NOTIFICATIONS_VALUE)
 
-        while None in (self.led, self.motor_A, self.motor_B, self.motor_AB, self.tilt_sensor):
-            log.debug("Waiting to be notified about devices...")
-            time.sleep(0.1)
-
-        self.port_C = None
-        self.port_D = None
-
-        # transport.write(MOVE_HUB_HARDWARE_HANDLE, b'\x0a\x00\x41\x01\x08\x01\x00\x00\x00\x01')
+        builtin_devices = ()
+        for num in range(0, 60):
+            builtin_devices = (self.led, self.motor_A, self.motor_B, self.motor_AB, self.tilt_sensor, self.button)
+            if None not in builtin_devices:
+                return
+            log.debug("Waiting for builtin devices to appear: %s", builtin_devices)
+            time.sleep(1)
+        log.warning("Got only these devices: %s", builtin_devices)
+        raise RuntimeError("Failed to obtain all builtin devices")
 
     def get_name(self):
         # note: reading this too fast makes it hang
diff --git a/pylgbst/constants.py b/pylgbst/constants.py
index dcdd501..f428aca 100644
--- a/pylgbst/constants.py
+++ b/pylgbst/constants.py
@@ -86,3 +86,20 @@ DEVICE_TYPES = {
 STATUS_STARTED = 0x01
 STATUS_CONFLICT = 0x05
 STATUS_FINISHED = 0x0a
+
+# TILT
+TILT_HORIZ = 0x00
+TILT_UP = 0x01
+TILT_DOWN = 0x02
+TILT_RIGHT = 0x03
+TILT_LEFT = 0x04
+TILT_INVERT = 0x05
+
+TILT_STATES = {
+    TILT_HORIZ: "BACK",
+    TILT_UP: "UP",
+    TILT_DOWN: "DOWN",
+    TILT_RIGHT: "RIGHT",
+    TILT_LEFT: "LEFT",
+    TILT_INVERT: "FRONT",
+}
diff --git a/pylgbst/peripherals.py b/pylgbst/peripherals.py
index a0c2a58..baa042c 100644
--- a/pylgbst/peripherals.py
+++ b/pylgbst/peripherals.py
@@ -82,7 +82,7 @@ class EncodedMotor(Peripheral):
         command = self.TIMED_GROUP if self.port == PORT_AB else self.TIMED_SINGLE
         # time
         msec = int(seconds * 1000)
-        if msec > 255 * 255:
+        if msec >= pow(2, 16):
             raise ValueError("Too large value for seconds: %s", seconds)
         command += struct.pack('<H', msec)
 
@@ -113,8 +113,7 @@ class TiltSensor(Peripheral):
 
 
 class Button(Peripheral):
-    def __init__(self, parent, port):
-        del port
+    def __init__(self, parent):
         super(Button, self).__init__(parent, None)
 
 
diff --git a/test.py b/test.py
index 2c153df..ddbd178 100644
--- a/test.py
+++ b/test.py
@@ -3,7 +3,7 @@ import time
 import unittest
 from threading import Thread
 
-from pylgbst import MoveHub, COLOR_RED, LED, EncodedMotor, PORT_AB
+from pylgbst import MoveHub, COLOR_RED, LED, EncodedMotor, PORT_AB, Peripheral
 from pylgbst.comms import Connection, str2hex, hex2str
 from pylgbst.constants import PORT_LED
 
@@ -50,19 +50,24 @@ class ConnectionMock(Connection):
         return None  # TODO
 
 
+class HubMock(MoveHub):
+    def _wait_for_devices(self):
+        pass
+
+
 class GeneralTest(unittest.TestCase):
     def test_led(self):
         conn = ConnectionMock()
         conn.notifications.append((14, '1b0e00 0900 04 39 0227003738'))
-        hub = MoveHub(conn)
+        hub = HubMock(conn)
         led = LED(hub, PORT_LED)
         led.set_color(COLOR_RED)
-        self.assertEquals("0701813211510009", conn.writes[1][1])
+        self.assertEquals("0701813211510009", conn.writes[0][1])
 
     def test_tilt_sensor(self):
         conn = ConnectionMock()
         conn.notifications.append((14, '1b0e000f00043a0128000000000100000001'))
-        hub = MoveHub(conn)
+        hub = HubMock(conn)
 
         def callback():
             pass
@@ -73,12 +78,12 @@ class GeneralTest(unittest.TestCase):
     def test_motor(self):
         conn = ConnectionMock()
         conn.notifications.append((14, '1b0e00 0900 04 39 0227003738'))
-        hub = MoveHub(conn)
+        hub = HubMock(conn)
         motor = EncodedMotor(hub, PORT_AB)
         motor.timed(1.5)
-        self.assertEquals("0c018139110adc056464647f03", conn.writes[1][1])
+        self.assertEquals("0c018139110adc056464647f03", conn.writes[0][1])
         motor.angled(90)
-        self.assertEquals("0e018139110c5a0000006464647f03", conn.writes[2][1])
+        self.assertEquals("0e018139110c5a0000006464647f03", conn.writes[1][1])
 
     def test_capabilities(self):
         conn = ConnectionMock()