diff --git a/src/fastcs/controller.py b/src/fastcs/controller.py
index c7fbc45fa..ca549b4e1 100755
--- a/src/fastcs/controller.py
+++ b/src/fastcs/controller.py
@@ -1,11 +1,37 @@
 from __future__ import annotations
 
+from collections.abc import Callable, Coroutine
 from copy import copy
-from typing import get_type_hints
+from inspect import Parameter
+from types import MappingProxyType
+from typing import Any, Protocol, TypeVar, get_type_hints
 
 from fastcs.attributes import Attribute
 
 
+class MethodProtocol(Protocol):
+    """Protocol for FastCS Controller methods"""
+
+    def __init__(self, *args: Any, **kwargs: Any) -> None: ...
+
+    def _validate(self, fn: Callable[..., Coroutine[Any, Any, None]]) -> None: ...
+
+    @property
+    def return_type(self) -> Any: ...
+
+    @property
+    def parameters(self) -> MappingProxyType[str, Parameter]: ...
+
+    @property
+    def docstring(self) -> str | None: ...
+
+    @property
+    def fn(self) -> Callable[..., Coroutine[Any, Any, None]]: ...
+
+    @property
+    def group(self) -> str | None: ...
+
+
 class BaseController:
     #: Attributes passed from the device at runtime.
     attributes: dict[str, Attribute]
@@ -102,6 +128,10 @@ def get_sub_controllers(self) -> dict[str, SubController]:
         return self.__sub_controller_tree
 
 
+Attribute_T = TypeVar("Attribute_T", bound=Attribute)
+Method_T = TypeVar("Method_T", bound=MethodProtocol)
+
+
 class Controller(BaseController):
     """Top-level controller for a device.
 
@@ -120,6 +150,22 @@ async def initialise(self) -> None:
     async def connect(self) -> None:
         pass
 
+    def walk_attributes(
+        self, access_mode: type[Attribute_T] = Attribute
+    ) -> dict[str, Attribute_T]:
+        return {
+            name: attribute
+            for name, attribute in self.attributes.items()
+            if isinstance(attribute, access_mode)
+        }
+
+    def walk_methods(self, method: type[Method_T]) -> dict[str, Method_T]:
+        return {
+            attr: value
+            for attr in dir(self)
+            if isinstance(value := getattr(self, attr), method)
+        }
+
 
 class SubController(BaseController):
     """A subordinate to a ``Controller`` for managing a subset of a device.
diff --git a/tests/test_controller.py b/tests/test_controller.py
index b0e87fd07..2f3793153 100644
--- a/tests/test_controller.py
+++ b/tests/test_controller.py
@@ -1,8 +1,10 @@
 import pytest
 
-from fastcs.attributes import AttrR
+from fastcs.attributes import AttrR, AttrRW, AttrW
 from fastcs.controller import Controller, SubController
+from fastcs.cs_methods import Command, Put, Scan
 from fastcs.datatypes import Int
+from fastcs.wrappers import command, put, scan
 
 
 def test_controller_nesting():
@@ -43,6 +45,8 @@ class SomeController(Controller):
     annotated_attr_not_defined_in_init: AttrR[int]
     equal_attr = AttrR(Int())
     annotated_and_equal_attr: AttrR[int] = AttrR(Int())
+    read_write_attr = AttrRW(Int())
+    write_only_attr = AttrW(Int())
 
     def __init__(self, sub_controller: SubController):
         self.attributes = {}
@@ -56,6 +60,18 @@ def __init__(self, sub_controller: SubController):
         super().__init__()
         self.register_sub_controller("sub_controller", sub_controller)
 
+    @command()
+    async def test_command(self):
+        pass
+
+    @scan(period=1.0)
+    async def test_scan(self):
+        pass
+
+    @put
+    async def test_put(self, fn):
+        pass
+
 
 def test_attribute_parsing():
     sub_controller = SomeSubController()
@@ -67,6 +83,8 @@ def test_attribute_parsing():
         "_attributes_attr_equal",
         "annotated_and_equal_attr",
         "equal_attr",
+        "read_write_attr",
+        "write_only_attr",
         "sub_controller",
     }
 
@@ -112,3 +130,44 @@ class FailingController(SomeController):
         ),
     ):
         FailingController(SomeSubController())
+
+
+def test_walk_attributes_from_type():
+    sub_controller = SomeSubController()
+    controller = SomeController(sub_controller)
+
+    assert set(controller.walk_attributes(access_mode=AttrR).keys()) == {
+        "_attributes_attr",
+        "annotated_attr",
+        "_attributes_attr_equal",
+        "annotated_and_equal_attr",
+        "equal_attr",
+        "read_write_attr",
+        "sub_controller",
+    }
+
+    assert set(controller.walk_attributes(access_mode=AttrW).keys()) == {
+        "write_only_attr",
+        "read_write_attr",
+    }
+
+    pass
+
+
+@pytest.mark.asyncio
+@pytest.mark.parametrize(
+    "method_type, expected_methods",
+    [
+        (Command, {"test_command"}),
+        (Scan, {"test_scan"}),
+        (Put, {"test_put"}),
+    ],
+)
+async def test_walk_methods_from_type(method_type, expected_methods):
+    sub_controller = SomeSubController()
+    controller = SomeController(sub_controller)
+
+    methods = set(controller.walk_methods(method_type))
+    assert len(methods) == len(expected_methods)
+    assert methods == expected_methods
+    methods = set(controller.walk_methods(Command))