diff --git a/sdk b/sdk
new file mode 160000
index 0000000..3307f7a
--- /dev/null
+++ b/sdk
@@ -0,0 +1 @@
+Subproject commit 3307f7a4c801857b8cd9cab5abb290f88ffc3155
diff --git a/usrc/main.cpp b/usrc/main.cpp
index 2dc8ccc..2d90f37 100644
--- a/usrc/main.cpp
+++ b/usrc/main.cpp
@@ -426,22 +426,24 @@ void regfn() {
   cmdScheduler.registerCmd("mini_servo_set_zero", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
     CHECK_ARGC(1);
     int id = atoi(argv[1]);
+    ZLOGI(TAG, "mini_servo_set_zero %d", id);
     g_feiteservomotor.reCalibration(id, 0);
+    ZLOGI(TAG, "mini_servo_set_zero %d done", id);
   });
   cmdScheduler.registerCmd("mini_servo_set_4095", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
     CHECK_ARGC(1);
     int id = atoi(argv[1]);
+    ZLOGI(TAG, "mini_servo_set_4095 %d", id);
     g_feiteservomotor.reCalibration(id, 4095);
+    ZLOGI(TAG, "mini_servo_set_4095 %d done", id);
   });
-  cmdScheduler.registerCmd("move_to", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
+  cmdScheduler.registerCmd("mini_servo_move_to", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
     CHECK_ARGC(3);
     int id  = atoi(argv[1]);
     int pos = atoi(argv[2]);
     int v   = atoi(argv[3]);
-
-    // bool moveTo(uint8_t id, int16_t pos, int16_t speed, uint16_t torque);
-
-    g_feiteservomotor.moveTo(id, pos, v,0);
+    ZLOGI(TAG, "mini_servo_move_to %d %d %d", id, pos, v);
+    g_feiteservomotor.moveTo(id, pos, v, 0);
   });
 
 #if 0