diff --git a/.github/workflows/dist.yml b/.github/workflows/dist.yml
index fc3d05b1..b71c239e 100644
--- a/.github/workflows/dist.yml
+++ b/.github/workflows/dist.yml
@@ -11,9 +11,24 @@ on:
 
 jobs:
   ci:
-    uses: robotpy/build-actions/.github/workflows/package-pure.yml@v2024-alpha
+    uses: robotpy/build-actions/.github/workflows/package-pure.yml@v2024
     with:
       enable_sphinx_check: false
     secrets:
       META_REPO_ACCESS_TOKEN: ${{ secrets.REPO_ACCESS_TOKEN }}
       PYPI_API_TOKEN: ${{ secrets.PYPI_PASSWORD }}
+
+  check-mypy:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v3
+    - uses: actions/setup-python@v4
+      with:
+        python-version: "3.12"
+    - name: Install requirements
+      run: |
+        pip --disable-pip-version-check install mypy setuptools wheel setuptools_scm
+        pip --disable-pip-version-check install --no-build-isolation -e .
+    - name: Run mypy
+      run: |
+        mypy commands2
\ No newline at end of file
diff --git a/commands2/button/commandjoystick.py b/commands2/button/commandjoystick.py
index cdb84340..f5f28c51 100644
--- a/commands2/button/commandjoystick.py
+++ b/commands2/button/commandjoystick.py
@@ -13,6 +13,8 @@ class CommandJoystick(CommandGenericHID):
     A version of Joystick with Trigger factories for command-based.
     """
 
+    _hid: Joystick
+
     def __init__(self, port: int):
         """
         Construct an instance of a controller.
diff --git a/commands2/button/commandps4controller.py b/commands2/button/commandps4controller.py
index 567ecf33..9b2da01d 100644
--- a/commands2/button/commandps4controller.py
+++ b/commands2/button/commandps4controller.py
@@ -13,6 +13,8 @@ class CommandPS4Controller(CommandGenericHID):
     A version of PS4Controller with Trigger factories for command-based.
     """
 
+    _hid: PS4Controller
+
     def __init__(self, port: int):
         """
         Construct an instance of a device.
diff --git a/commands2/button/commandxboxcontroller.py b/commands2/button/commandxboxcontroller.py
index 50428d2d..2c613f4b 100644
--- a/commands2/button/commandxboxcontroller.py
+++ b/commands2/button/commandxboxcontroller.py
@@ -13,6 +13,8 @@ class CommandXboxController(CommandGenericHID):
     A version of XboxController with Trigger factories for command-based.
     """
 
+    _hid: XboxController
+
     def __init__(self, port: int):
         """
         Construct an instance of a controller.
diff --git a/commands2/command.py b/commands2/command.py
index 39afad12..e8b0546f 100644
--- a/commands2/command.py
+++ b/commands2/command.py
@@ -6,7 +6,7 @@
 from enum import Enum
 from typing import TYPE_CHECKING, Any, Callable, Set
 
-from typing_extensions import Self
+from typing_extensions import Self, TypeAlias
 
 if TYPE_CHECKING:
     from .instantcommand import InstantCommand
@@ -54,7 +54,9 @@ class Command(Sendable):
     This class is provided by the NewCommands VendorDep
     """
 
-    InterruptionBehavior = InterruptionBehavior  # type alias for 2023 location
+    InterruptionBehavior: TypeAlias = (
+        InterruptionBehavior  # type alias for 2023 location
+    )
 
     requirements: Set[Subsystem]
 
@@ -62,9 +64,9 @@ def __new__(cls, *args, **kwargs) -> Self:
         instance = super().__new__(
             cls,
         )
-        instance.requirements = set()
-        SendableRegistry.add(instance, cls.__name__)
         super().__init__(instance)
+        SendableRegistry.add(instance, cls.__name__)
+        instance.requirements = set()
         return instance
 
     def __init__(self):
diff --git a/commands2/commandscheduler.py b/commands2/commandscheduler.py
index fa7b41e7..ef51150c 100644
--- a/commands2/commandscheduler.py
+++ b/commands2/commandscheduler.py
@@ -21,9 +21,9 @@ class CommandScheduler:
     methods to be called and for their default commands to be scheduled.
     """
 
-    _instance: Optional[Self] = None
+    _instance: Optional[CommandScheduler] = None
 
-    def __new__(cls) -> Self:
+    def __new__(cls) -> CommandScheduler:
         if cls._instance is None:
             return super().__new__(cls)
         return cls._instance
diff --git a/commands2/util.py b/commands2/util.py
index d60da8c2..617a5762 100644
--- a/commands2/util.py
+++ b/commands2/util.py
@@ -1,14 +1,14 @@
 from __future__ import annotations
 
-from typing import Iterable, Tuple, Union
+from typing import Iterable, List, Tuple, Union
 
 from .command import Command
 
 
 def flatten_args_commands(
     *commands: Union[Command, Iterable[Command]]
-) -> Tuple[Command]:
-    flattened_commands = []
+) -> Tuple[Command, ...]:
+    flattened_commands: List[Command] = []
     for command in commands:
         if isinstance(command, Command):
             flattened_commands.append(command)
diff --git a/commands2/wrappercommand.py b/commands2/wrappercommand.py
index c61ffe60..43c50372 100644
--- a/commands2/wrappercommand.py
+++ b/commands2/wrappercommand.py
@@ -26,6 +26,7 @@ def __init__(self, command: Command):
 
         CommandScheduler.getInstance().registerComposedCommands([command])
         self._command = command
+        self.setName(self._command.getName())
 
     def initialize(self):
         """The initial subroutine of a command. Called once when the command is initially scheduled."""