As you defined the frequency as 24, I assume that you work 24 hours (daily) per cycle and therefore have approximately 2 cycles in your historical dataset. Generally speaking, this is limited sample data to initiate time series forecast. I would recommend getting a little more data, and then again I can create a forecasting model. The more data you have, the better it will take into account seasonality and thus predict future values. With limited automatic algorithms available, such as auto.arima, often something like moving averages is used by default. Your data set deserves something better than moving averages, since there is a certain seasonality in the cycle. There are a number of prediction algorithms that can help you improve the shape of a straight curve; things like holt-winters or other exponential smoothing methods can help. However, auto.arima is also a good bet (I would first try to see what I can do about it).
Getting more data and doing the same procedure will improve your chart. Personally, I prefer to use forecast over predict ; the data seems to look a little better than the chart, as it shows your confidence intervals. In the code, I also expanded the data set a bit by copying two periods, so that we got four periods. See Result below:
library(forecast) value <- c(1.2,1.7,1.6, 1.2, 1.6, 1.3, 1.5, 1.9, 5.4, 4.2, 5.5, 6.0, 5.6, 6.2, 6.8, 7.1, 7.1, 5.8, 0.0, 5.2, 4.6, 3.6, 3.0, 3.8, 3.1, 3.4, 2.0, 3.1, 3.2, 1.6, 0.6, 3.3, 4.9, 6.5, 5.3, 3.5, 5.3, 7.2, 7.4, 7.3, 7.2, 4.0, 6.1, 4.3, 4.0, 2.4, 0.4, 2.4, 1.2,1.7,1.6, 1.2, 1.6, 1.3, 1.5, 1.9, 5.4, 4.2, 5.5, 6.0, 5.6, 6.2, 6.8, 7.1, 7.1, 5.8, 0.0, 5.2, 4.6, 3.6, 3.0, 3.8, 3.1, 3.4, 2.0, 3.1, 3.2, 1.6, 0.6, 3.3, 4.9, 6.5, 5.3, 3.5, 5.3, 7.2, 7.4, 7.3, 7.2, 4.0, 6.1, 4.3, 4.0, 2.4, 0.4, 2.4) sensor <- ts(value,frequency=24)
