diff --git a/src/cmd/controller.go b/src/cmd/controller.go
index 229b54f..4babf1c 100644
--- a/src/cmd/controller.go
+++ b/src/cmd/controller.go
@@ -13,13 +13,8 @@ import (
 // controllerCmd represents the controller command
 var controllerCmd = &cobra.Command{
 	Use:   "controller",
-	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: "controller command description",
+	Long: `controller command description`,
 	Run: func(cmd *cobra.Command, args []string) {
 		fmt.Println("controller called")
 	},
diff --git a/src/cmd/getJoints.go b/src/cmd/getJoints.go
new file mode 100644
index 0000000..8dd059e
--- /dev/null
+++ b/src/cmd/getJoints.go
@@ -0,0 +1,35 @@
+/*
+Copyright © 2024 Antoine Harle antoine.harle@proton.me
+
+*/
+package cmd
+
+import (
+	"fmt"
+
+	"github.com/spf13/cobra"
+)
+
+// getJointsCmd represents the getJoints command
+var getJointsCmd = &cobra.Command{
+	Use:   "getJoints",
+	Short: "getJoints command descritpion",
+	Long: `getJoints command descritpion`,
+	Run: func(cmd *cobra.Command, args []string) {
+		fmt.Println("getJoints called")
+	},
+}
+
+func init() {
+	controllerCmd.AddCommand(getJointsCmd)
+
+	// Here you will define your flags and configuration settings.
+
+	// Cobra supports Persistent Flags which will work for this command
+	// and all subcommands, e.g.:
+	// getJointsCmd.PersistentFlags().String("foo", "", "A help for foo")
+
+	// Cobra supports local flags which will only run when this command
+	// is called directly, e.g.:
+	// getJointsCmd.Flags().BoolP("toggle", "t", false, "Help message for toggle")
+}
diff --git a/src/cmd/listen.go b/src/cmd/listen.go
index c526b63..79f567e 100644
--- a/src/cmd/listen.go
+++ b/src/cmd/listen.go
@@ -13,13 +13,8 @@ import (
 // listenCmd represents the listen command
 var listenCmd = &cobra.Command{
 	Use:   "listen",
-	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: "listen command descritpion",
+	Long: `listen command descritpion`,
 	Run: func(cmd *cobra.Command, args []string) {
 		fmt.Println("listen called")
 	},
diff --git a/src/cmd/motor.go b/src/cmd/motor.go
index 7f58dce..2aaa438 100644
--- a/src/cmd/motor.go
+++ b/src/cmd/motor.go
@@ -13,13 +13,8 @@ import (
 // motorCmd represents the motor command
 var motorCmd = &cobra.Command{
 	Use:   "motor",
-	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: "motor command descritpion",
+	Long: `motor command descritpion`,
 	Run: func(cmd *cobra.Command, args []string) {
 		fmt.Println("motor called")
 	},
diff --git a/src/cmd/moveVel.go b/src/cmd/moveVel.go
index 9e59769..be9e871 100644
--- a/src/cmd/moveVel.go
+++ b/src/cmd/moveVel.go
@@ -13,13 +13,8 @@ import (
 // moveVelCmd represents the moveVel command
 var moveVelCmd = &cobra.Command{
 	Use:   "moveVel",
-	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: "moveVel command descritpion",
+	Long: `moveVel command descritpion`,
 	Run: func(cmd *cobra.Command, args []string) {
 		fmt.Println("moveVel called")
 	},
diff --git a/src/cmd/serve.go b/src/cmd/serve.go
index e28b668..aefab2c 100644
--- a/src/cmd/serve.go
+++ b/src/cmd/serve.go
@@ -26,6 +26,7 @@ to quickly create a Cobra application.`,
 }
 
 func init() {
+	controllerCmd.AddCommand(serveCmd)
 	motorCmd.AddCommand(serveCmd)
 
 	// Here you will define your flags and configuration settings.
diff --git a/src/cmd/setJoints.go b/src/cmd/setJoints.go
new file mode 100644
index 0000000..b1d0d4d
--- /dev/null
+++ b/src/cmd/setJoints.go
@@ -0,0 +1,35 @@
+/*
+Copyright © 2024 Antoine Harle antoine.harle@proton.me
+
+*/
+package cmd
+
+import (
+	"fmt"
+
+	"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")
+	},
+}
+
+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.:
+	// setJointsCmd.Flags().BoolP("toggle", "t", false, "Help message for toggle")
+}