Code example showing priority

esphome:
  name: esphome-shop-garage-door
  platform: ESP32
  board: esp32doit-devkit-v1
#On reboot the cover's current_operation is lost
#   we can check the reed switchs and know the door is
#   is in some unknow state but we don't know if it was
#   opening or closing. So we will just pick one
  on_boot:
    priority: 300
    then:
      lambda: |-
        ESP_LOGD("On Boot","Start (300)1");
        ESP_LOGD("On Boot","  Contact Sensor Open   %s",id(contact_sensor_open_postion).state ? "true" : "false");
        ESP_LOGD("On Boot","  Contact Sensor Closed %s",id(contact_sensor_closed_postion).state ? "true" : "false");
        if ((id(contact_sensor_open_postion).state) == true) {
          id(template_cov).position = COVER_OPEN;
          id(template_cov).current_operation = COVER_OPERATION_IDLE;
          id(template_cov).publish_state();
          ESP_LOGD("On Boot","Open");
        } else if (id(contact_sensor_closed_postion).state == true) {
          id(template_cov).position = COVER_CLOSED;
          id(template_cov).current_operation = COVER_OPERATION_IDLE;
          id(template_cov).publish_state();
          ESP_LOGD("On Boot","Closed");
        } else {
          id(template_cov).position = 0.5;
          id(template_cov).current_operation = COVER_OPERATION_OPENING;
          id(template_cov).publish_state();
          ESP_LOGD("On Boot","Not Known");
        }
        ESP_LOGD("On Boot","End");

wifi:
  ssid: !secret wifi_ssid_work
  password: !secret wifi_password_work
#  use_address: !secret ESPHome_IP_Shop_Garage_Door
  use_address: "172.25.92.115"


  # Enable fallback hotspot (captive portal) in case wifi connection fails
  ap:
    ssid: !secret wifi_esphome_fallback_ssid
    password: !secret wifi_esphome_fallback_password

captive_portal:

# Enable logging
logger:
  level: DEBUG

# Enable Home Assistant API
api:
  password: !secret esphome_api_password

ota:
  password: !secret esphome_ota_password



status_led:
  pin:
    number: GPIO02
    inverted: True


#===================================================================================
#When holding the board with USB down
#   GND         RST         |       -GPIO  1   GND
#   NC          GPIO 36     |       -GPIO  3  *GPIO 27
#   GPIO 39    *GPIO 26     |        GPIO 22   GPIO 25
#   GPIO 35     GPIO 18     |        GPIO 21  *GPIO 32
#  *GPIO 33     GPIO 19     |        GPIO 17  *GPIO 12
#   GPIO 34     GPIO 23     |       *GPIO 16   GPIO  4
#  *GPIO 14     GPIO  5     |        GND       GPIO  0
#   NC          3.3V        |        5V        GPIO  2
#   GPIO  9    *GPIO 13     |       *GPIO 15  -GPIO  8
#  -GPIO 11     GPIO 10     |       -GPIO  7  -GPIO  6
#Notes
#  * Pins are best to use
#  - Pins that should never be use
#  Unmark pins could be used as input only but ESPHome won't allow it
#===================================================================================



binary_sensor:
  - platform: gpio
    pin:
      number: GPIO27
      mode: INPUT_PULLUP
      inverted: true
    name: "Shop North Overhead Door Closed Postion"
    device_class: garage_door
    id: contact_sensor_closed_postion
    on_release:
      - cover.template.publish:
          id: template_cov
          current_operation: OPENING
    on_press:
      - cover.template.publish:
          id: template_cov
          current_operation: IDLE
    internal: true
    filters:
    - delayed_on: 100ms

  - platform: gpio
    pin:
      number: GPIO12
      mode: INPUT_PULLUP
      inverted: true
    name: "Shop North Overhead Door Open Postion"
    device_class: garage_door
    id: contact_sensor_open_postion
    on_release:
      - cover.template.publish:
          id: template_cov
          current_operation: CLOSING
    on_press:
      - cover.template.publish:
          id: template_cov
          current_operation: IDLE
    internal: true
    filters:
    - delayed_on: 100ms
  - platform: gpio
    pin:
      number: GPIO32
      mode: INPUT_PULLUP
      inverted: False
    name: "Shop Door"
    device_class: door
    filters:
    - delayed_on: 100ms

switch:
  - platform: gpio
    pin:
      number: GPIO13
      inverted: true
    name: "Shop North Overhead Door Relay"
    id: relay
    internal: true


  - platform: restart
    name: "Reset Shop garage Door ESPHome"


# This creates the actual garage door in HA. The state is based
# on the contact sensor. Opening/closing the garage door simply
# turns the relay on/off with a 0.5s delay in between.
        #return COVER_CLOSED;
cover:
  - platform: template
    device_class: garage
    name: "Shop North Overhead Door"
    id: template_cov
    lambda: |-
      if ((id(contact_sensor_open_postion).state) == true) {
        return COVER_OPEN;
      } else if (id(contact_sensor_closed_postion).state == true) {
        return COVER_CLOSED;
      } else {
        return 0.5;
      }
    open_action:
      - switch.turn_on: relay
      - delay: 0.5s
      - switch.turn_off: relay
    close_action:
      - switch.turn_on: relay
      - delay: 0.5s
      - switch.turn_off: relay
    stop_action:
      - if:
          condition:
            lambda: 'return !(id(contact_sensor_closed_postion).state == true || id(contact_sensor_open_postion).state == true) ;'
          then:
            - switch.turn_on: relay
            - delay: 0.5s
            - switch.turn_off: relay