diff --git a/src/cmd/controller.go b/src/cmd/controller/controller.go
similarity index 87%
rename from src/cmd/controller.go
rename to src/cmd/controller/controller.go
index 4babf1c..664d0cd 100644
--- a/src/cmd/controller.go
+++ b/src/cmd/controller/controller.go
@@ -2,11 +2,13 @@
 Copyright © 2024 Antoine Harle antoine.harle@proton.me
 
 */
-package cmd
+package controller
 
 import (
 	"fmt"
 
+	"github.com/AntoineHX/multi-motors-controller/src/cmd"
+
 	"github.com/spf13/cobra"
 )
 
@@ -21,7 +23,7 @@ var controllerCmd = &cobra.Command{
 }
 
 func init() {
-	rootCmd.AddCommand(controllerCmd)
+	cmd.RootCmd.AddCommand(controllerCmd)
 
 	// Here you will define your flags and configuration settings.
 
diff --git a/src/cmd/getJoints.go b/src/cmd/controller/getJoints.go
similarity index 97%
rename from src/cmd/getJoints.go
rename to src/cmd/controller/getJoints.go
index 8dd059e..a9bd56b 100644
--- a/src/cmd/getJoints.go
+++ b/src/cmd/controller/getJoints.go
@@ -2,7 +2,7 @@
 Copyright © 2024 Antoine Harle antoine.harle@proton.me
 
 */
-package cmd
+package controller
 
 import (
 	"fmt"
diff --git a/src/cmd/serve.go b/src/cmd/controller/serve.go
similarity index 62%
rename from src/cmd/serve.go
rename to src/cmd/controller/serve.go
index 60e32fe..a63d0f7 100644
--- a/src/cmd/serve.go
+++ b/src/cmd/controller/serve.go
@@ -2,7 +2,7 @@
 Copyright © 2024 Antoine Harle antoine.harle@proton.me
 
 */
-package cmd
+package controller
 
 import (
 	"fmt"
@@ -13,21 +13,17 @@ import (
 // serveCmd represents the serve command
 var serveCmd = &cobra.Command{
 	Use:   "serve",
-	Short: "A brief description of your command",
-	Long: `A longer description that spans multiple lines and likely contains examples
-and usage of using your command. For example:
-
-Cobra is a CLI library for Go that empowers applications.
-This application is a tool to generate the needed files
-to quickly create a Cobra application.`,
+	Short: "serve command descritpion",
+	Long: `serve command descritpion`,
 	Run: func(cmd *cobra.Command, args []string) {
-		fmt.Println("serve called with: Port ", cmd.Flag("port").Value, " - ID ", cmd.Flag("id").Value)
+		fmt.Println("serve called with: Port ", cmd.Flag("port").Value)
+		fmt.Println(cmd.CommandPath())
 	},
 }
 
 func init() {
 	controllerCmd.AddCommand(serveCmd)
-	motorCmd.AddCommand(serveCmd)
+	// motorCmd.AddCommand(serveCmd)
 
 	// Here you will define your flags and configuration settings.
 
@@ -38,6 +34,4 @@ func init() {
 	// Cobra supports local flags which will only run when this command
 	// is called directly, e.g.:
 	serveCmd.Flags().Uint16P("port", "p", 8080, "Port")
-
-	//TODO: Support Motor ID flag
-}
+}
\ No newline at end of file
diff --git a/src/cmd/setJoints.go b/src/cmd/controller/setJoints.go
similarity index 98%
rename from src/cmd/setJoints.go
rename to src/cmd/controller/setJoints.go
index 29b73d1..38c38ec 100644
--- a/src/cmd/setJoints.go
+++ b/src/cmd/controller/setJoints.go
@@ -2,7 +2,7 @@
 Copyright © 2024 Antoine Harle antoine.harle@proton.me
 
 */
-package cmd
+package controller
 
 import (
 	"fmt"
diff --git a/src/cmd/listen.go b/src/cmd/motor/listen.go
similarity index 98%
rename from src/cmd/listen.go
rename to src/cmd/motor/listen.go
index e13157f..0562f55 100644
--- a/src/cmd/listen.go
+++ b/src/cmd/motor/listen.go
@@ -2,7 +2,7 @@
 Copyright © 2024 Antoine Harle antoine.harle@proton.me
 
 */
-package cmd
+package motor
 
 import (
 	"fmt"
diff --git a/src/cmd/motor.go b/src/cmd/motor/motor.go
similarity index 88%
rename from src/cmd/motor.go
rename to src/cmd/motor/motor.go
index 623acc2..799e099 100644
--- a/src/cmd/motor.go
+++ b/src/cmd/motor/motor.go
@@ -2,11 +2,13 @@
 Copyright © 2024 Antoine Harle antoine.harle@proton.me
 
 */
-package cmd
+package motor
 
 import (
 	"fmt"
 
+	"github.com/AntoineHX/multi-motors-controller/src/cmd"
+
 	"github.com/spf13/cobra"
 )
 
@@ -21,7 +23,7 @@ var motorCmd = &cobra.Command{
 }
 
 func init() {
-	rootCmd.AddCommand(motorCmd)
+	cmd.RootCmd.AddCommand(motorCmd)
 
 	// Here you will define your flags and configuration settings.
 
diff --git a/src/cmd/moveVel.go b/src/cmd/motor/moveVel.go
similarity index 98%
rename from src/cmd/moveVel.go
rename to src/cmd/motor/moveVel.go
index 27c7b79..d2438c8 100644
--- a/src/cmd/moveVel.go
+++ b/src/cmd/motor/moveVel.go
@@ -2,7 +2,7 @@
 Copyright © 2024 Antoine Harle antoine.harle@proton.me
 
 */
-package cmd
+package motor
 
 import (
 	"fmt"
diff --git a/src/cmd/motor/serve.go b/src/cmd/motor/serve.go
new file mode 100644
index 0000000..b269281
--- /dev/null
+++ b/src/cmd/motor/serve.go
@@ -0,0 +1,42 @@
+/*
+Copyright © 2024 Antoine Harle antoine.harle@proton.me
+
+*/
+package motor
+
+import (
+	"fmt"
+
+	"github.com/spf13/cobra"
+)
+
+// serveCmd represents the serve command
+var serveCmd = &cobra.Command{
+	Use:   "serve",
+	Short: "serve command descritpion",
+	Long: `serve command descritpion`,
+	Run: func(cmd *cobra.Command, args []string) {
+		fmt.Println("serve called with ID ", cmd.Flag("id").Value)
+		fmt.Println(cmd.CommandPath())
+	},
+}
+
+func init() {
+	motorCmd.AddCommand(serveCmd)
+
+	// Here you will define your flags and configuration settings.
+
+	// Cobra supports Persistent Flags which will work for this command
+	// and all subcommands, e.g.:
+	// serveCmd.PersistentFlags().String("foo", "", "A help for foo")
+
+	// Cobra supports local flags which will only run when this command
+	// is called directly, e.g.:
+	// serveCmd.Flags().Uint16P("port", "p", 8080, "Port")
+
+	//TODO: Support Motor ID flag
+}
+
+func controller() {
+
+}
\ No newline at end of file
diff --git a/src/cmd/root.go b/src/cmd/root.go
index 6ef9079..2f0dcd2 100644
--- a/src/cmd/root.go
+++ b/src/cmd/root.go
@@ -14,8 +14,8 @@ import (
 
 var cfgFile string
 
-// rootCmd represents the base command when called without any subcommands
-var rootCmd = &cobra.Command{
+// RootCmd represents the base command when called without any subcommands
+var RootCmd = &cobra.Command{
 	Use:   "src",
 	Short: "Multi Motors Controller",
 	Long: `Root command of Multi Motors Controller`,
@@ -26,9 +26,9 @@ var rootCmd = &cobra.Command{
 }
 
 // Execute adds all child commands to the root command and sets flags appropriately.
-// This is called by main.main(). It only needs to happen once to the rootCmd.
+// This is called by main.main(). It only needs to happen once to the RootCmd.
 func Execute() {
-	err := rootCmd.Execute()
+	err := RootCmd.Execute()
 	if err != nil {
 		os.Exit(1)
 	}
@@ -41,13 +41,13 @@ func init() {
 	// Cobra supports persistent flags, which, if defined here,
 	// will be global for your application.
 
-	rootCmd.PersistentFlags().StringVarP(&cfgFile, "config", "c", "", "config file (default is $HOME/.cobra.yaml)")
-	//rootCmd.MarkFlagRequired("config")
-	// viper.BindPFlag("config", rootCmd.PersistentFlags().Lookup("config"))
+	RootCmd.PersistentFlags().StringVarP(&cfgFile, "config", "c", "", "config file (default is $HOME/.cobra.yaml)")
+	//RootCmd.MarkFlagRequired("config")
+	// viper.BindPFlag("config", RootCmd.PersistentFlags().Lookup("config"))
 
 	// Cobra also supports local flags, which will only run
 	// when this action is called directly.
-	rootCmd.Flags().BoolP("toggle", "t", false, "Help message for toggle")
+	RootCmd.Flags().BoolP("toggle", "t", false, "Help message for toggle")
 }
 
 // initConfig reads in config file and ENV variables if set.
diff --git a/src/main.go b/src/main.go
index 7047f83..721b212 100644
--- a/src/main.go
+++ b/src/main.go
@@ -4,7 +4,11 @@ Copyright © 2024 Antoine Harle antoine.harle@proton.me
 */
 package main
 
-import "github.com/AntoineHX/multi-motors-controller/src/cmd"
+import (
+	"github.com/AntoineHX/multi-motors-controller/src/cmd"
+	_ "github.com/AntoineHX/multi-motors-controller/src/cmd/controller"
+	_ "github.com/AntoineHX/multi-motors-controller/src/cmd/motor"
+)
 
 func main() {
 	cmd.Execute()