def METHOD_NAME(self, straight_speed: int = None, straight_acceleration: int = None, turn_rate: int = None, turn_acceleration: int = None) -> Tuple[int, int, int, int]:
    """
    Configures the speed and acceleration used by straight() and turn().
    If you give no arguments, this returns the current values as a tuple.
    You can only change the settings while the robot is stopped. This is either before you begin driving or after you call stop().
    Args:
        straight_speed (int):  Speed of the robot during straight() in millimeters/second.
        straight_acceleration (int): Acceleration and deceleration of the robot at the start and end of straight() in millimeters/second^2.
        turn_rate (int): Turn rate of the robot during turn() in degrees/second.
        turn_acceleration (int): Angular acceleration and deceleration of the robot at the start and end of turn() in degrees/second^2.
    Returns:
        Straight speed (millimeters/second), straight acceleration (millimeters/second^2), turn rate (degrees/second), and turn acceleration (degrees/second^2) (if no arguments are provided), None otherwise.
    """
    if straight_speed is None and straight_acceleration is None and turn_rate is None and turn_acceleration is None:
        return (0, 0, 0, 0)
    else:
        return None