diff --git a/XBOXONE.cpp b/XBOXONE.cpp
index 2c9cb392..b1011570 100644
--- a/XBOXONE.cpp
+++ b/XBOXONE.cpp
@@ -179,10 +179,11 @@ uint8_t XBOXONE::Init(uint8_t parent, uint8_t port, bool lowspeed) {
         delay(200); // let things settle
 
         // Initialize the controller for input
+        cmdCounter = 0; // Reset the counter used when sending out the commands
         uint8_t writeBuf[5];
         writeBuf[0] = 0x05;
         writeBuf[1] = 0x20;
-        writeBuf[2] = 0x00;
+        // Byte 2 is set in "XboxCommand"
         writeBuf[3] = 0x01;
         writeBuf[4] = 0x00;
         rcode = XboxCommand(writeBuf, 5);
@@ -402,6 +403,7 @@ int16_t XBOXONE::getAnalogHat(AnalogHatEnum a) {
 
 /* Xbox Controller commands */
 uint8_t XBOXONE::XboxCommand(uint8_t* data, uint16_t nbytes) {
+        data[2] = cmdCounter++; // Increment the output command counter
         uint8_t rcode = pUsb->outTransfer(bAddress, epInfo[ XBOX_ONE_OUTPUT_PIPE ].epAddr, nbytes, data);
 #ifdef DEBUG_USB_HOST
         Notify(PSTR("\r\nXboxCommand, Return: "), 0x80);
@@ -410,22 +412,73 @@ uint8_t XBOXONE::XboxCommand(uint8_t* data, uint16_t nbytes) {
         return rcode;
 }
 
+// The Xbox One packets are described at: https://github.com/quantus/xbox-one-controller-protocol
 void XBOXONE::onInit() {
         // A short buzz to show the controller is active
-        uint8_t writeBuf[11];
+        uint8_t writeBuf[13];
+
+        // Activate rumble
         writeBuf[0] = 0x09;
-        writeBuf[1] = 0x08;
-        writeBuf[2] = 0x00;
-        writeBuf[3] = 0x09;
-        writeBuf[4] = 0x00;
-        writeBuf[5] = 0x0f;
-        writeBuf[6] = 0x04;
-        writeBuf[7] = 0x04;
-        writeBuf[8] = 0x20;
-        writeBuf[9] = 0x20;
-        writeBuf[10] = 0x80;
-        XboxCommand(writeBuf, 11);
+        writeBuf[1] = 0x00;
+        // Byte 2 is set in "XboxCommand"
+
+        // Single rumble effect
+        writeBuf[3] = 0x09; // Substructure (what substructure rest of this packet has)
+        writeBuf[4] = 0x00; // Mode
+        writeBuf[5] = 0x0F; // Rumble mask (what motors are activated) (0000 lT rT L R)
+        writeBuf[6] = 0x04; // lT force
+        writeBuf[7] = 0x04; // rT force
+        writeBuf[8] = 0x20; // L force
+        writeBuf[9] = 0x20; // R force
+        writeBuf[10] = 0x80; // Length of pulse
+        writeBuf[11] = 0x00; // Off period
+        writeBuf[12] = 0x00; // Repeat count
+        XboxCommand(writeBuf, 13);
 
         if(pFuncOnInit)
                 pFuncOnInit(); // Call the user function
 }
+
+void XBOXONE::setRumbleOff() {
+        uint8_t writeBuf[13];
+
+        // Activate rumble
+        writeBuf[0] = 0x09;
+        writeBuf[1] = 0x00;
+        // Byte 2 is set in "XboxCommand"
+
+        // Continuous rumble effect
+        writeBuf[3] = 0x09; // Substructure (what substructure rest of this packet has)
+        writeBuf[4] = 0x00; // Mode
+        writeBuf[5] = 0x0F; // Rumble mask (what motors are activated) (0000 lT rT L R)
+        writeBuf[6] = 0x00; // lT force
+        writeBuf[7] = 0x00; // rT force
+        writeBuf[8] = 0x00; // L force
+        writeBuf[9] = 0x00; // R force
+        writeBuf[10] = 0x00; // On period
+        writeBuf[11] = 0x00; // Off period
+        writeBuf[12] = 0x00; // Repeat count
+        XboxCommand(writeBuf, 13);
+}
+
+void XBOXONE::setRumbleOn(uint8_t leftTrigger, uint8_t rightTrigger, uint8_t leftMotor, uint8_t rightMotor) {
+        uint8_t writeBuf[13];
+
+        // Activate rumble
+        writeBuf[0] = 0x09;
+        writeBuf[1] = 0x00;
+        // Byte 2 is set in "XboxCommand"
+
+        // Continuous rumble effect
+        writeBuf[3] = 0x09; // Substructure (what substructure rest of this packet has)
+        writeBuf[4] = 0x00; // Mode
+        writeBuf[5] = 0x0F; // Rumble mask (what motors are activated) (0000 lT rT L R)
+        writeBuf[6] = leftTrigger; // lT force
+        writeBuf[7] = rightTrigger; // rT force
+        writeBuf[8] = leftMotor; // L force
+        writeBuf[9] = rightMotor; // R force
+        writeBuf[10] = 0xFF; // On period
+        writeBuf[11] = 0x00; // Off period
+        writeBuf[12] = 0xFF; // Repeat count
+        XboxCommand(writeBuf, 13);
+}
diff --git a/XBOXONE.h b/XBOXONE.h
index 131a1fbd..fad3785c 100644
--- a/XBOXONE.h
+++ b/XBOXONE.h
@@ -156,6 +156,18 @@ public:
         void attachOnInit(void (*funcOnInit)(void)) {
                 pFuncOnInit = funcOnInit;
         };
+
+        /** Used to set the rumble off. */
+        void setRumbleOff();
+
+        /**
+         * Used to turn on rumble continuously.
+         * @param leftTrigger  Left trigger force.
+         * @param rightTrigger Right trigger force.
+         * @param leftMotor    Left motor force.
+         * @param rightMotor   Right motor force.
+         */
+        void setRumbleOn(uint8_t leftTrigger, uint8_t rightTrigger, uint8_t leftMotor, uint8_t rightMotor);
         /**@}*/
 
         /** True if a Xbox ONE controller is connected. */
@@ -217,6 +229,7 @@ private:
         bool R2Clicked;
 
         uint8_t readBuf[XBOX_ONE_EP_MAXPKTSIZE]; // General purpose buffer for input data
+        uint8_t cmdCounter;
 
         void readReport(); // Used to read the incoming data
 
diff --git a/examples/Xbox/XBOXONE/XBOXONE.ino b/examples/Xbox/XBOXONE/XBOXONE.ino
index 218f4918..b49f4076 100644
--- a/examples/Xbox/XBOXONE/XBOXONE.ino
+++ b/examples/Xbox/XBOXONE/XBOXONE.ino
@@ -63,6 +63,19 @@ void loop() {
       Serial.println();
     }
 
+    // Set rumble effect
+    static uint16_t oldL2Value, oldR2Value;
+    if (Xbox.getButtonPress(L2) != oldL2Value || Xbox.getButtonPress(R2) != oldR2Value) {
+      oldL2Value = Xbox.getButtonPress(L2);
+      oldR2Value = Xbox.getButtonPress(R2);
+      uint8_t leftRumble = map(oldL2Value, 0, 1023, 0, 255); // Map the trigger values into a byte
+      uint8_t rightRumble = map(oldR2Value, 0, 1023, 0, 255);
+      if (leftRumble > 0 || rightRumble > 0)
+        Xbox.setRumbleOn(leftRumble, rightRumble, leftRumble, rightRumble);
+      else
+        Xbox.setRumbleOff();
+    }
+
     if (Xbox.getButtonClick(UP))
       Serial.println(F("Up"));
     if (Xbox.getButtonClick(DOWN))