Joint: Set to fixed angle, direction, speed

My goal is to manipulate a joint for that it rotates to a set angle, with a given direction and speed (or force).

Example:
setAngle ( angle, direction, speed )
With the following input mapping:
angle: 0 - 360
direction: forward / backward
speed:float

I searched through several forum posts as well as at the documentation to figure out how I could make joints behave like that. What seems pretty basic, turns out quite hard to realize in unity, as all I found in the documentation is a motor to drive the joint at a set speed, or quite exotic transformations with slerp drives. I would appreciate if someone could let a unity newbie know how to implement such a function within the mechanics available.