diff --git a/commands2/commandscheduler.py b/commands2/commandscheduler.py
index 7eba7a4..be362bc 100644
--- a/commands2/commandscheduler.py
+++ b/commands2/commandscheduler.py
@@ -334,6 +334,12 @@ def unregisterSubsystem(self, *subsystems: Subsystem) -> None:
         for subsystem in subsystems:
             self._subsystems.pop(subsystem, None)
 
+    def getAllSubsystems(self) -> tuple[Subsystem, ...]:
+        """
+        Gets all registered subsystems as an immutable tuple.
+        """
+        return tuple(self._subsystems.keys())
+
     def unregisterAllSubsystems(self):
         """
         Un-registers all registered Subsystems with the scheduler. All currently registered subsystems
diff --git a/tests/test_command_schedule.py b/tests/test_command_schedule.py
index 62d2182..68d9ffe 100644
--- a/tests/test_command_schedule.py
+++ b/tests/test_command_schedule.py
@@ -88,3 +88,21 @@ def test_notScheduledCancel(scheduler: commands2.CommandScheduler):
     command = commands2.Command()
 
     scheduler.cancel(command)
+
+def test_getAllSubystems(scheduler: commands2.CommandScheduler):
+    sub1 = commands2.Subsystem()
+    sub1.setName("test123")
+    sub2 = commands2.Subsystem()
+    sub2.setName("hey")
+    start_spying_on(sub1)
+    start_spying_on(sub2)
+    scheduler.registerSubsystem(sub1)
+    scheduler.registerSubsystem(sub2)
+    sublist = scheduler.getAllSubsystems()
+    con1 = sublist[0].getName() == "test123"
+    con2 = sublist[0].getName() == "hey"
+    assert con1 or con2
+    if(con1):
+        assert sublist[1].getName() == "hey"
+    else:
+        assert sublist[1].getName() == "test123"