diff --git a/openlch/__init__.py b/openlch/__init__.py
index 659c456..29f8c1c 100644
--- a/openlch/__init__.py
+++ b/openlch/__init__.py
@@ -1,3 +1,3 @@
-__version__ = "0.2.1"
+__version__ = "0.3.0"
 
 from .grpc import Servo
\ No newline at end of file
diff --git a/openlch/cli.py b/openlch/cli.py
index 2856d21..96a0470 100644
--- a/openlch/cli.py
+++ b/openlch/cli.py
@@ -1,22 +1,34 @@
 """Defines the CLI for the OpenLCH project."""
 
 import subprocess
-
 import click
+from .grpc import Servo
 
+DEFAULT_IP = "192.168.42.1"
 
 @click.group()
 def cli() -> None:
-    """OpenLCH CLI tool for interacting with MilkV boards."""
-    raise NotImplementedError("The CLI is not yet implemented")
+    """OpenLCH CLI tool for interacting with MilkV boards.
+
+    Available commands:
+    - ping: Ping the MilkV board
+    - get-positions: Get current positions of all servos
+    - set-position: Set position for a specific servo
+    - set-wifi: Set WiFi credentials for the MilkV board
+    - get-servo-info: Get information about a specific servo
+    - scan-servos: Scan for connected servos
+    - change-servo-id: Change the ID of a servo
 
+    Use 'openlch COMMAND --help' for more information on a specific command.
+    """
+    pass
 
 @cli.command()
-@click.option("--ip", required=True, help="IP address of the MilkV board")
+@click.argument("ip", default=DEFAULT_IP)
 def ping(ip: str) -> None:
     """Ping the MilkV board at the specified IP address."""
     try:
-        result = subprocess.run(["ping", "-c", "4", ip], capture_output=True, text=True, check=False)
+        result = subprocess.run(["ping", "-c", "1", ip], capture_output=True, text=True, check=False)
         if result.returncode == 0:
             click.echo(f"Successfully pinged {ip}")
             click.echo(result.stdout)
@@ -26,6 +38,99 @@ def ping(ip: str) -> None:
     except Exception as e:
         click.echo(f"An error occurred: {str(e)}")
 
+@cli.command()
+@click.argument("ip", default=DEFAULT_IP)
+def get_positions(ip: str) -> None:
+    """Get current positions of all servos."""
+    client = Servo(ip)
+    try:
+        positions = client.get_positions()
+        click.echo("Current positions:")
+        for id, position in positions:
+            click.echo(f"Servo {id}: {position}")
+    except Exception as e:
+        click.echo(f"An error occurred: {str(e)}")
+    finally:
+        client.close()
+
+@cli.command()
+@click.argument("id", type=int)
+@click.argument("position", type=float)
+@click.argument("ip", default=DEFAULT_IP)
+def set_position(id: int, position: float, ip: str) -> None:
+    """Set position for a specific servo."""
+    client = Servo(ip)
+    try:
+        client.set_positions([(id, position)])
+        click.echo(f"Position set for servo {id} to {position}")
+    except Exception as e:
+        click.echo(f"An error occurred: {str(e)}")
+    finally:
+        client.close()
+
+@cli.command()
+@click.argument("ssid")
+@click.argument("password")
+@click.argument("ip", default=DEFAULT_IP)
+def set_wifi(ssid: str, password: str, ip: str) -> None:
+    """Set WiFi credentials for the MilkV board."""
+    client = Servo(ip)
+    try:
+        client.set_wifi_info(ssid, password)
+        click.echo("WiFi credentials set successfully")
+    except Exception as e:
+        click.echo(f"An error occurred: {str(e)}")
+    finally:
+        client.close()
+
+@cli.command()
+@click.argument("id", type=int)
+@click.argument("ip", default=DEFAULT_IP)
+def get_servo_info(id: int, ip: str) -> None:
+    """Get information about a specific servo."""
+    client = Servo(ip)
+    try:
+        info = client.get_servo_info(id)
+        click.echo(f"Servo {id} info:")
+        for key, value in info.items():
+            click.echo(f"{key}: {value}")
+    except Exception as e:
+        click.echo(f"An error occurred: {str(e)}")
+    finally:
+        client.close()
+
+@cli.command()
+@click.argument("ip", default=DEFAULT_IP)
+def scan_servos(ip: str) -> None:
+    """Scan for connected servos."""
+    client = Servo(ip)
+    try:
+        servo_ids = client.scan()
+        click.echo("Found servo IDs:")
+        for id in servo_ids:
+            click.echo(id)
+    except Exception as e:
+        click.echo(f"An error occurred: {str(e)}")
+    finally:
+        client.close()
+
+@cli.command()
+@click.argument("old_id", type=int)
+@click.argument("new_id", type=int)
+@click.argument("ip", default=DEFAULT_IP)
+def change_servo_id(old_id: int, new_id: int, ip: str) -> None:
+    """Change the ID of a servo."""
+    client = Servo(ip)
+    try:
+        success = client.change_id(old_id, new_id)
+        if success:
+            click.echo(f"Successfully changed servo ID from {old_id} to {new_id}")
+        else:
+            click.echo("Failed to change servo ID")
+    except Exception as e:
+        click.echo(f"An error occurred: {str(e)}")
+    finally:
+        client.close()
 
 if __name__ == "__main__":
     # python -m openlch.cli