TCRT5000 line tracker module with ESP32

Supply 3.3-5 V Bus GPIO

Pins and ESP32 wiring

Pin	Role	ESP32 pin	Notes
VCC	Power	3V3
GND	Ground	GND
DO	Output (the part drives it)	D25	Changes level over a black line (threshold set with the trimmer)
AO	Analog output	D34	Reflection strength. To an ADC pin (prefer ADC1: GPIO 32 to 39)

Suggested wiring for the 30-pin ESP32 DevKit, avoiding flash, input-only and strapping pins. BoardPilot checks it for you as you wire.

void setup() { Serial.begin(115200); }

void loop() {
  int mv = analogReadMilliVolts(34);  // AO on GPIO 34
  Serial.println(mv);
  delay(200);
}

Part data: CC BY 4.0, free to reuse with credit to BoardPilot.