diff --git a/.github/workflows/dist.yml b/.github/workflows/dist.yml
index fcd2bfc41..b54f2f522 100644
--- a/.github/workflows/dist.yml
+++ b/.github/workflows/dist.yml
@@ -212,6 +212,10 @@ jobs:
         SCCACHE_WEBDAV_USERNAME: ${{ secrets.WPI_ARTIFACTORY_USERNAME }}
         SCCACHE_WEBDAV_PASSWORD: ${{ secrets.WPI_ARTIFACTORY_TOKEN }}
 
+    - name: Ensure all headers are accounted for
+      run: |
+        python -m devtools ci scan-headers
+
     - uses: actions/upload-artifact@v4
       with:
         name: "pypi-meson-${{ runner.os }}-${{ runner.arch }}-${{ matrix.python_version }}"
diff --git a/devtools/__main__.py b/devtools/__main__.py
index c67f7d416..bbf2fc1d6 100644
--- a/devtools/__main__.py
+++ b/devtools/__main__.py
@@ -61,6 +61,26 @@ def develop(ctx: Context, package: str):
             project.develop()
 
 
+@main.command()
+@click.pass_obj
+def scan_headers(ctx: Context):
+    """Run scan-headers on all projects"""
+    ok = True
+    for project in ctx.subprojects.values():
+        if project.is_semiwrap_project():
+            with ctx.handle_exception(f"scan-headers {project.name}"):
+                if not project.scan_headers():
+                    print(
+                        "- ERROR:",
+                        project.pyproject_path,
+                        "does not wrap/ignore every header!",
+                    )
+                    ok = False
+
+    if not ok:
+        sys.exit(1)
+
+
 @main.command
 @click.argument("package", required=False)
 @click.pass_obj
diff --git a/devtools/ci.py b/devtools/ci.py
index c26563439..e1d824dc5 100644
--- a/devtools/ci.py
+++ b/devtools/ci.py
@@ -128,3 +128,27 @@ def build_meson_wheels(ctx: Context, no_test: bool, cross: T.Optional[str]):
             )
             if not no_test:
                 project.test(install_requirements=True)
+
+
+@ci.command()
+@click.pass_obj
+def scan_headers(ctx: Context):
+    """Run scan-headers on all projects"""
+    ok = True
+    for project in ctx.subprojects.values():
+        if project.is_semiwrap_project():
+            if not project.cfg.ci_scan_headers:
+                print("- Skipping", project.name, file=sys.stderr)
+                continue
+
+            with ctx.handle_exception(f"scan-headers {project.name}"):
+                if not project.scan_headers():
+                    print(
+                        "- ERROR:",
+                        project.pyproject_path,
+                        "does not wrap/ignore every header!",
+                    )
+                    ok = False
+
+    if not ok:
+        sys.exit(1)
diff --git a/devtools/config.py b/devtools/config.py
index bf8c9373d..36d1f4d2e 100644
--- a/devtools/config.py
+++ b/devtools/config.py
@@ -13,6 +13,9 @@ class SubprojectConfig:
     #: Whether this should be built on roborio or not
     roborio: bool
 
+    #: Whether `ci scan-headers` should include this project
+    ci_scan_headers: bool = True
+
 
 @dataclasses.dataclass
 class Parameters:
diff --git a/devtools/subproject.py b/devtools/subproject.py
index 6aca0346a..c42a76e23 100644
--- a/devtools/subproject.py
+++ b/devtools/subproject.py
@@ -48,6 +48,19 @@ def develop(self):
     def uninstall(self):
         run_pip("uninstall", "-y", self.pyproject_name)
 
+    def scan_headers(self):
+        """Returns True if no headers found or False if missing headers were found"""
+        result = run_cmd(
+            sys.executable,
+            "-m",
+            "semiwrap",
+            "scan-headers",
+            "--check",
+            cwd=self.path,
+            check=False,
+        )
+        return result.returncode == 0
+
     def update_init(self):
         run_cmd(
             sys.executable,
diff --git a/devtools/util.py b/devtools/util.py
index c08ba555c..0253eaa81 100644
--- a/devtools/util.py
+++ b/devtools/util.py
@@ -44,9 +44,9 @@ def parse_input(value: typing.Any, spec: typing.Type[T], fname) -> T:
         raise _convert_validation_error(fname, ve) from None
 
 
-def run_cmd(*args: str, cwd=None):
+def run_cmd(*args: str, cwd=None, check=True):
     print("+", shlex.join(args))
-    subprocess.check_call(args, cwd=cwd)
+    return subprocess.run(args, cwd=cwd, check=check)
 
 
 def run_pip(*args: str, cwd=None):
diff --git a/rdev.toml b/rdev.toml
index fb797f7eb..d30179108 100644
--- a/rdev.toml
+++ b/rdev.toml
@@ -98,6 +98,10 @@ roborio = true
 py_version = "wrapper"
 roborio = true
 
+# practicality over purity - this is because we use a static
+# library that only exists at build time
+ci_scan_headers = false
+
 [subprojects."robotpy-apriltag"]
 py_version = "wrapper"
 roborio = true
diff --git a/subprojects/robotpy-cscore/pyproject.toml b/subprojects/robotpy-cscore/pyproject.toml
index c2843be59..cdff88517 100644
--- a/subprojects/robotpy-cscore/pyproject.toml
+++ b/subprojects/robotpy-cscore/pyproject.toml
@@ -78,6 +78,22 @@ update_init = [
     "cscore"
 ]
 
+scan_headers_ignore = [
+    # Only wrapping the C++ API
+    "cscore.h",
+    "cscore_c.h",
+    "cscore_raw.h",
+
+    # Not needed
+    "cameraserver/CameraServerShared.h",
+    "vision/VisionPipeline.h",
+    "vision/VisionRunner.h",
+
+    # Not wrapping OpenCV or cvnp
+    "cvnp/*",
+    "opencv2/*"
+]
+
 [tool.semiwrap.extension_modules."cscore._cscore"]
 name = "cscore"
 
diff --git a/subprojects/robotpy-wpilib/pyproject.toml b/subprojects/robotpy-wpilib/pyproject.toml
index 6b6621dfa..f5526c3c6 100644
--- a/subprojects/robotpy-wpilib/pyproject.toml
+++ b/subprojects/robotpy-wpilib/pyproject.toml
@@ -183,6 +183,7 @@ LiveWindow = "frc/livewindow/LiveWindow.h"
 # frc/motorcontrol
 DMC60 = "frc/motorcontrol/DMC60.h"
 Jaguar = "frc/motorcontrol/Jaguar.h"
+Koors40 = "frc/motorcontrol/Koors40.h"
 MotorControllerGroup = "rpy/MotorControllerGroup.h"
 NidecBrushless = "frc/motorcontrol/NidecBrushless.h"
 PWMMotorController = "frc/motorcontrol/PWMMotorController.h"
diff --git a/subprojects/robotpy-wpilib/semiwrap/Koors40.yml b/subprojects/robotpy-wpilib/semiwrap/Koors40.yml
new file mode 100644
index 000000000..2b9af2bf6
--- /dev/null
+++ b/subprojects/robotpy-wpilib/semiwrap/Koors40.yml
@@ -0,0 +1,6 @@
+---
+
+classes:
+  frc::Koors40:
+    methods:
+      Koors40: