def METHOD_NAME(self, speed: int = None, time: int = None) -> Tuple[int, int]:
    """
    Gets or sets stalling tolerances.
    If no arguments are given, this will return the current values.
    Args:	
        speed (int): If the controller cannot reach this speed for some time even with maximum actuation, it is stalled. Rotational (degrees/second) or Linear (millimeters/second).
        time (int): How long the controller has to be below this minimum speed before we say it is stalled in milliseconds.
    Returns:
        Threshold speed and time limit (if no arguments are provided), None otherwise.
    """
    if speed is None and time is None:
        return (0, 0)
    else:
        return None