Garage parking sensor for ESP32

garage.yml

esphome:
  name: garage_hub
  platform: ESP32
  board: nodemcu-32s

wifi:
  ssid: !secret wifi_ssid
  password: !secret wifi_password

mqtt:
  broker: !secret mqtt_host
  username: !secret mqtt_user
  password: !secret mqtt_password

logger:
  level: INFO

ota:
  password: !secret ota_password

switch:
  - platform: gpio
    id: ledr
    pin: GPIO25
  - platform: gpio
    id: ledg
    pin: GPIO26

sensor:
  - platform: ultrasonic
    id: parking
    update_interval: 100ms
    echo_pin: GPIO12
    trigger_pin: GPIO13
    filters:
      - median:
          window_size: 4
          send_every: 4
          send_first_at: 1
    on_raw_value:
      - if:
          condition:
            - sensor.in_range:
                id: parking
                below: 1.4
                above: 0.2
            - not:
                for:
                  time: 20s
                  condition:
                    sensor.in_range:
                      id: parking
                      below: 0.2
          then:
            - switch.turn_off:
                id: ledr
            - switch.toggle:
                id: ledg
      - if:
          condition:
            - sensor.in_range:
                id: parking
                below: 0.2
                above: 0.14
            - not:
                for:
                  time: 20s
                  condition:
                    sensor.in_range:
                      id: parking
                      below: 0.2
          then:
            - switch.turn_off:
                id: ledr
            - switch.turn_on:
                id: ledg
      - if:
          condition:
            - sensor.in_range:
                id: parking
                below: 0.14
            - not:
                for:
                  time: 20s
                  condition:
                    sensor.in_range:
                      id: parking
                      below: 0.2
          then:
            - switch.turn_off:
                id: ledg
            - switch.turn_on:
                id: ledr
      - if:
          condition:
            for:
              time: 20s
              condition:
                sensor.in_range:
                  id: parking
                  below: 0.2
          then:
            - switch.turn_off:
                id: ledr
            - switch.turn_off:
                id: ledg
    on_value_range:
      - above: 1.4
        then:
          - switch.turn_off:
              id: ledr
          - switch.turn_off:
              id: ledg