ESP32 KY-033 Line Tracking Sensor Module

🛠️ KY-033 Line Tracking Sensor Module Troubleshooting

This guide outlines a systematic approach to troubleshoot and resolve common problems with the . Start by confirming that the hardware connections are correct, as wiring mistakes are the most frequent cause of issues. If you are sure the connections are correct, follow the below steps to debug common issues.

❌ No Line Detection

⚠️ False Positives

💻 Code Examples

Below you can find code examples of KY-033 Line Tracking Sensor Module with ESP32 in several frameworks:

• Arduino IDE
• ESP-IDF
• ESPHome
• PlatformIO
• MicroPython

If you encounter issues while using the KY-033 Line Tracking Sensor Module, check the Common Issues Troubleshooting Guide.

ESP32 KY-033 Arduino IDE Code Example

Example in Arduino IDE

Fill in your main Arduino IDE sketch file with the following code to use the KY-033 Line Tracking Sensor Module:

int linetracking = 10; // Declaration of the sensor input pin
int value; // Temporary variable

void setup() {
    pinMode(linetracking, INPUT); // Initialization sensor pin
    digitalWrite(linetracking, HIGH); // Activation of internal pull-up resistor
    Serial.begin(9600); // Initialization of the serial monitor
    Serial.println("KY-033 Linetracking");
}

void loop() {
    // The current signal at the sensor is read out.
    value = digitalRead(linetracking);
    // If a signal could be detected, this is displayed on the serial monitor.
    if (value == HIGH) {
        Serial.println("Line recognized");
        delay(200); // 200 ms break
    }
}

This Arduino code initializes the sensor input pin and serial communication. In the loop, it reads the sensor value and prints "Line recognized" to the serial monitor when a line is detected. A 200 ms delay is added to debounce the sensor readings.

Connect your ESP32 to your computer via a USB cable, Ensure the correct Board and Port are selected under Tools, Click the "Upload" button in the Arduino IDE to compile and upload the code to your ESP32.

ESP32 KY-033 ESP-IDF Code Example

Example in Espressif IoT Framework (ESP-IDF)

If you're using ESP-IDF to work with the KY-033 Line Tracking Sensor Module, here's how you can set it up and read data from the sensor. Fill in this code in the main ESP-IDF file:

#include <stdio.h>
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "driver/gpio.h"

#define SENSOR_PIN GPIO_NUM_16

void app_main(void) {
    gpio_config_t io_conf = {
        .intr_type = GPIO_INTR_DISABLE,
        .mode = GPIO_MODE_INPUT,
        .pin_bit_mask = (1ULL << SENSOR_PIN),
        .pull_up_en = GPIO_PULLUP_ENABLE
    };
    gpio_config(&io_conf);

    printf("KY-033 Line Tracking Sensor Test\n");
    while (1) {
        int sensor_value = gpio_get_level(SENSOR_PIN);
        if (sensor_value == 1) { // Line detected
            printf("Line recognized\n");
        } else {
            printf("No line detected\n");
        }
        vTaskDelay(pdMS_TO_TICKS(500));
    }
}

This ESP-IDF code configures GPIO16 as an input with a pull-up resistor. It continuously reads the sensor's state and prints "Line recognized" or "No line detected" to the console based on the sensor's output.

Update the I2C pins (I2C_MASTER_SDA_IO and I2C_MASTER_SCL_IO) to match your ESP32 hardware setup, Use idf.py build to compile the project, Use idf.py flash to upload the code to your ESP32.

ESP32 KY-033 ESPHome Code Example

Example in ESPHome (Home Assistant)

Fill in this configuration in your ESPHome YAML configuration file (example.yml) to integrate the KY-033 Line Tracking Sensor Module

binary_sensor:
  - platform: gpio
    pin:
      number: GPIO16
      mode: INPUT_PULLUP
    name: "KY-033 Line Tracking Sensor"
    device_class: motion
    filters:
      - invert:
    on_press:
      then:
        - logger.log: "Line detected"
    on_release:
      then:
        - logger.log: "No line detected"

This ESPHome configuration sets up the KY-033 line tracking sensor as a binary sensor on GPIO16. It logs messages when a line is detected and when no line is present. The input is inverted to match the sensor's logic.

Upload this code to your ESP32 using the ESPHome dashboard or the esphome run command.

ESP32 KY-033 PlatformIO Code Example

Example in PlatformIO Framework

For PlatformIO, make sure to configure the platformio.ini file with the appropriate environment and libraries, and then proceed with the code.

Configure platformio.ini

First, your platformio.ini should look like below. You might need to include some libraries as shown. Make sure to change the board to your ESP32:

[env:esp32]
platform = espressif32
board = esp32dev
framework = arduino

ESP32 KY-033 PlatformIO Example Code

Write this code in your PlatformIO project under the src/main.cpp file to use the KY-033 Line Tracking Sensor Module:

#include <Arduino.h>

#define SENSOR_PIN 16

void setup() {
    pinMode(SENSOR_PIN, INPUT_PULLUP);
    Serial.begin(115200);
    Serial.println("KY-033 Line Tracking Sensor Test");
}

void loop() {
    int sensor_value = digitalRead(SENSOR_PIN);
    if (sensor_value == HIGH) {
        Serial.println("Line detected");
    } else {
        Serial.println("No line detected");
    }
    delay(500);
}

This PlatformIO code sets up GPIO16 as an input with a pull-up resistor for the KY-033 sensor. It prints "Line detected" or "No line detected" to the serial monitor based on the sensor's state.

Upload the code to your ESP32 using the PlatformIO "Upload" button in your IDE or the pio run --target upload command.

ESP32 KY-033 MicroPython Code Example

Example in Micro Python Framework

Fill in this script in your MicroPython main.py file (main.py) to integrate the KY-033 Line Tracking Sensor Module with your ESP32.

import machine
import time

SENSOR_PIN = machine.Pin(16, machine.Pin.IN, machine.Pin.PULL_UP)

while True:
    if SENSOR_PIN.value() == 1:
        print("Line detected")
    else:
        print("No line detected")
    time.sleep(0.5)

This MicroPython script configures GPIO16 as an input with a pull-up resistor for the KY-033 sensor. It continuously checks for lines and prints the corresponding message every 500ms.

Upload this code to your ESP32 using a MicroPython-compatible IDE, such as Thonny, uPyCraft, or tools like ampy.