HELP PROGRAMMING

Hi, everyone is warmly welcomed, I am new using Vex IQ equipment and in fact the children are happy, we are just beginning, but we have the following restlessness; I have a chassis with two engines (1 and 6) and four wheels that the children program without problem, but in turn they have placed two engines (2 and 5) more to perform a specific action. the specific question is how can I program those two additional engines to run while the robot is in moving ?. I thank you all for your cooperation… Note:
we are programming in autonomous mode, we are programming in Graphical ROBOTC for VEX Robotics 4.X

What programming language are the children using?

we are programming in Graphical ROBOTC for VEX Robotics 4.X
DSC_1485.jpg
DSC_1487.jpg

???

The answer is, it depends on what you are trying to do. Can you decribe the movements you wish to make and then we can give you an example of how to achieve it.