Arduino Tripwire

//Testing the DC Motors
//Define Pins
//Motor A
int enableA = 4;
int pinA1 = 6;
int pinA2 = 5;

int sensor0 = 0;

int sensorVal0;

int statusCache;
int lastStatus;

void setup() {
  Serial.begin (9600);
  //configure pin modes
  pinMode (enableA, OUTPUT);
  pinMode (pinA1, OUTPUT);
  pinMode (pinA2, OUTPUT);

  //open cache
  //enabling motor A
  Serial.println ("Enabling Motor A");
  digitalWrite (enableA, HIGH);

  Serial.println ("Opening...");

  digitalWrite (enableA, HIGH);
  digitalWrite (pinA1, HIGH);
  digitalWrite (pinA2, LOW);
  delay(850); //calculated time for opening

  Serial.println ("Standby...");
  Serial.println ("Waiting for interaction...");
  digitalWrite (pinA1, LOW);
  digitalWrite (pinA2, LOW);

  statusCache = 1; //set status to open
  lastStatus = 1;
  //wait for 5s to let everything settle
  delay (5000);
}


void loop() {

  statusCache = getSensorVal();
  Serial.print ("Status: ");
  Serial.println (statusCache);

  if (statusCache == 1 && lastStatus != 1) {
    // open
    Serial.println ("Opening...");
    digitalWrite (enableA, HIGH);
    digitalWrite (pinA1, HIGH);
    digitalWrite (pinA2, LOW);
    delay(850); //calculated time for opening

    Serial.println ("Standby...");
    Serial.println ("Waiting for interaction...");
    digitalWrite (pinA1, LOW);
    digitalWrite (pinA2, LOW);
    lastStatus = 1;
  }

  if (statusCache == 0 && lastStatus != 0) {
    Serial.println ("Closing...");
    digitalWrite (enableA, HIGH);
    digitalWrite (pinA1, LOW);
    digitalWrite (pinA2, HIGH);
    delay (850);
    digitalWrite (enableA, LOW);
    lastStatus = 0;
  }


  delay (250); //delay 1/4 of second

}


//read sesnor val and returns if to close or to open
int getSensorVal () {
  int stat;
  //read analog sensor
  sensorVal0 = analogRead(sensor0);
  //print sensor value
  Serial.println (sensorVal0);
  if ((sensorVal0 < 700) || (sensorVal0 > 1010))
    stat = 0; //to close
  else
    stat = 1; //open

  return stat;
}