def METHOD_NAME(self, kp: int = None, ki: int = None, kd: int = None, integral_range: int = None, integral_rate: int = None, feed_forward: int = None) -> Tuple[int, int, int, int, int, int]:
    """
    Gets or sets the PID values for position and speed control.
    If no arguments are given, this will return the current values.
    Args:	
        kp (int): Proportional position (or integral speed) control constant.
        ki (int): Integral position control constant.
        kd (int): Derivative position (or proportional speed) control constant.
        integral_range (int): Region around the target angle (degrees) or distance (millimeters), in which integral control errors are accumulated.
        integral_rate (int): Maximum rate at which the error integral is allowed to grow. Rotational (degrees/second) or Linear (millimeters/second).
        feed_forward (int): This adds a feed forward signal to the PID feedback signal, in the direction of the speed reference. This value is expressed as a percentage (0 - 100) of the absolute maximum duty cycle.
    Returns:
        kp, ki, kd, integral range, integral rate, and feed forward (if no arguments are provided), None otherwise.
    """
    if kp is None and ki is None and kd is None and integral_range is None and integral_rate is None and feed_forward is None:
        return (0, 0, 0, 0, 0, 0)
    else:
        return None