Kontes Robot Pemadam Api Indonesia (KRPAI) is a robot match with the mission of finding and extinguishing the fires. To complete this mission, the fire position detection sensor is one of the most important sensors. The system used in this research is AMG8833 sensor-based position detection system by applying bubble sort method and weighted average using STM32 microcontroller. The use of the STM32 microcontroller to support data, because STM32 is a microcontroller based on a 32-bit processor core. Based on the testing that has been done, this system can find out the position of the fires in front of the attack, the left side of the attack, and on the right side. This system can also detect the fire points up to a distance of 60cm with the width of the reading field up to 60 °.