diff --git a/src/cmd/listen.go b/src/cmd/listen.go
index 79f567e..e13157f 100644
--- a/src/cmd/listen.go
+++ b/src/cmd/listen.go
@@ -16,7 +16,7 @@ var listenCmd = &cobra.Command{
 	Short: "listen command descritpion",
 	Long: `listen command descritpion`,
 	Run: func(cmd *cobra.Command, args []string) {
-		fmt.Println("listen called")
+		fmt.Println("listen called with ID: ", cmd.Flag("id").Value)
 	},
 }
 
@@ -31,5 +31,5 @@ func init() {
 
 	// Cobra supports local flags which will only run when this command
 	// is called directly, e.g.:
-	// listenCmd.Flags().BoolP("toggle", "t", false, "Help message for toggle")
+	// listenCmd.Flags().Uint16("id", 0, "Identifier number")
 }
diff --git a/src/cmd/motor.go b/src/cmd/motor.go
index 2aaa438..623acc2 100644
--- a/src/cmd/motor.go
+++ b/src/cmd/motor.go
@@ -16,7 +16,7 @@ var motorCmd = &cobra.Command{
 	Short: "motor command descritpion",
 	Long: `motor command descritpion`,
 	Run: func(cmd *cobra.Command, args []string) {
-		fmt.Println("motor called")
+		fmt.Println("motor called with ID: ", cmd.Flag("id").Value)
 	},
 }
 
@@ -27,7 +27,8 @@ func init() {
 
 	// Cobra supports Persistent Flags which will work for this command
 	// and all subcommands, e.g.:
-	// motorCmd.PersistentFlags().String("foo", "", "A help for foo")
+	motorCmd.PersistentFlags().Uint16("id", 0, "Identifier number")
+	motorCmd.MarkFlagRequired("id")
 
 	// Cobra supports local flags which will only run when this command
 	// is called directly, e.g.:
diff --git a/src/cmd/moveVel.go b/src/cmd/moveVel.go
index be9e871..27c7b79 100644
--- a/src/cmd/moveVel.go
+++ b/src/cmd/moveVel.go
@@ -16,7 +16,7 @@ var moveVelCmd = &cobra.Command{
 	Short: "moveVel command descritpion",
 	Long: `moveVel command descritpion`,
 	Run: func(cmd *cobra.Command, args []string) {
-		fmt.Println("moveVel called")
+		fmt.Println("moveVel called with: ID ", cmd.Flag("id").Value, " Vel ", cmd.Flag("vel").Value)
 	},
 }
 
@@ -31,5 +31,6 @@ func init() {
 
 	// Cobra supports local flags which will only run when this command
 	// is called directly, e.g.:
-	// moveVelCmd.Flags().BoolP("toggle", "t", false, "Help message for toggle")
+	//TODO: Anonymous flag (with anonymous flag group ?)
+	moveVelCmd.Flags().Float32("vel", 0, "Velocity (degrees/s)")
 }
diff --git a/src/cmd/serve.go b/src/cmd/serve.go
index aefab2c..60e32fe 100644
--- a/src/cmd/serve.go
+++ b/src/cmd/serve.go
@@ -21,7 +21,7 @@ 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.`,
 	Run: func(cmd *cobra.Command, args []string) {
-		fmt.Println("serve called")
+		fmt.Println("serve called with: Port ", cmd.Flag("port").Value, " - ID ", cmd.Flag("id").Value)
 	},
 }
 
@@ -37,5 +37,7 @@ func init() {
 
 	// Cobra supports local flags which will only run when this command
 	// is called directly, e.g.:
-	// serveCmd.Flags().BoolP("toggle", "t", false, "Help message for toggle")
+	serveCmd.Flags().Uint16P("port", "p", 8080, "Port")
+
+	//TODO: Support Motor ID flag
 }
diff --git a/src/cmd/setJoints.go b/src/cmd/setJoints.go
index b1d0d4d..29b73d1 100644
--- a/src/cmd/setJoints.go
+++ b/src/cmd/setJoints.go
@@ -6,6 +6,7 @@ package cmd
 
 import (
 	"fmt"
+	// "strings"
 
 	"github.com/spf13/cobra"
 )
@@ -16,7 +17,7 @@ var setJointsCmd = &cobra.Command{
 	Short: "setJoints command descritpion",
 	Long: `setJoints command descritpion`,
 	Run: func(cmd *cobra.Command, args []string) {
-		fmt.Println("setJoints called")
+		fmt.Println("setJoints called with target :", cmd.Flag("vel").Value)
 	},
 }
 
@@ -31,5 +32,8 @@ func init() {
 
 	// 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")
+	//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")
 }