I use a reed switch on my gates - when they are in contact the gate is closed. You could put more at the open points for fully open but I only cared about closed or not. I assumed for 20 secs after they started opening they are opening else they are open. When I close the gate I assume closing until the reed switch shows closed - of course opening the gate during closing will reopen (I also have IR to detect car so gate will not close onto a car).