Well actually not very sophisticated, but still a bit autonomous. Until now, the 4WD robot platform was actually more of a remote controlled car, as the speed always had to be controlled manually. Now with the adapted motor control a line follower is a matter of 2-3 lines of code, because all sensors are already on board.

As you can see on the OSC layout I changed the approach of the control a bit. No longer left and right motor, but speed and direction. This is much easier for the autonomous control.