Change CLI command structure

src/cmd/controller/setJoints.go

@@ -0,0 +1,39 @@
+/*
+Copyright © 2024 Antoine Harle antoine.harle@proton.me
+
+*/
+package controller
+
+import (
+	"fmt"
+	// "strings"
+
+	"github.com/spf13/cobra"
+)
+
+// setJointsCmd represents the setJoints command
+var setJointsCmd = &cobra.Command{
+	Use:   "setJoints",
+	Short: "setJoints command descritpion",
+	Long: `setJoints command descritpion`,
+	Run: func(cmd *cobra.Command, args []string) {
+		fmt.Println("setJoints called with target :", cmd.Flag("vel").Value)
+	},
+}
+
+func init() {
+	controllerCmd.AddCommand(setJointsCmd)
+
+	// Here you will define your flags and configuration settings.
+
+	// Cobra supports Persistent Flags which will work for this command
+	// and all subcommands, e.g.:
+	// setJointsCmd.PersistentFlags().String("foo", "", "A help for foo")
+
+	// Cobra supports local flags which will only run when this command
+	// is called directly, e.g.:
+	//TODO: Anonymous flag (with anonymous flag group ?)
+	//TODO: Fix input of multiple values as slice
+	setJointsCmd.Flags().Float32Slice("vel", nil, "Target joint values") //or IntSlice ?
+	setJointsCmd.MarkFlagRequired("vel")
+}