How do I move half of my drivetrain?

I have a four-motor drivetrain, and I would like to turn my robot less sharply using two motors on one side. Is there a way I can isolate those two motors from the drivetrain setting and use them individually?

If you look in robot-config.h you will see that individual motors as well as the two motor groups for left and right sides of the drivetrain are all instantiated as separate objects you can interact with. Just tell the motor group to “spin” or “spinTo” and you can do a swing turn, you will need to monitor position and/or time and then stop them when the turn has finished.

FYI, no need to create multiple topics with the same question, I will delete the other one.