Help with controlling Indivisual Motor in Drivetrain

Is there anyway for me to tune the attributes (turn direction, power etc) of any indivisual motor in a Drivetrain?
I can’t find any documentation for doing that, it seems like it’s only possible to play with the attributes of the whole Drivetrain.

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Put these in main.cpp

inertial Inertial1 = inertial(PORT1);
motor rf = motor(PORT2);
motor rb = motor(PORT3);
motor lf = motor(PORT4);
motor lb = motor(PORT5);