diff --git a/code/Barrier.cpp b/code/Barrier.cpp
new file mode 100644
index 0000000..4be3e2a
--- /dev/null
+++ b/code/Barrier.cpp
@@ -0,0 +1,44 @@
+#include <Servo.h>
+
+enum BarrierState {OPEN, CLOSED};
+
+class Barrier {
+
+    private:
+        Servo servo;
+        int pin;
+        BarrierState state = CLOSED;
+
+    public:
+
+        int open_time_seconds;
+
+        Barrier(int pin, int open_time_seconds = 3){
+            this->pin = pin;
+            this->close();
+            this->open_time_seconds = open_time_seconds;
+        }
+
+        void configure_pins(){
+            this->servo.attach(pin);
+        }
+    
+        void open(){
+            this->state = OPEN;
+            this->servo.write(0);
+        }
+
+        void close(){
+            this->state = CLOSED;
+            this->servo.write(90);
+        }
+
+        bool is_open() const {
+            return this->state == OPEN;
+        }
+
+        bool is_closed() const {
+            return this->state == CLOSED;
+        }
+
+};
diff --git a/code/code.ino b/code/code.ino
index d408c01..666c987 100644
--- a/code/code.ino
+++ b/code/code.ino
@@ -1,20 +1,35 @@
-#include <Servo.h>
+#include "Barrier.cpp";
 #include "DistSensor.cpp";
 
 #define ULTRASONIC_SENSOR_PIN_TRIG 11
 #define ULTRASONIC_SENSOR_PIN_ECHO 12
+#define SERVO_PIN 10
+
+unsigned long previous_time = 0;
 
 DistSensor dist_sensor = DistSensor(ULTRASONIC_SENSOR_PIN_TRIG, ULTRASONIC_SENSOR_PIN_ECHO, 25.0);
+Barrier barrier = Barrier(SERVO_PIN, 3);
 
 void setup() {
     Serial.begin(115200);
     dist_sensor.configure_pins();
+    barrier.configure_pins();
 }
 
 void loop() {
-    
-    if (dist_sensor.is_in_range()) {
 
+    unsigned long current_time = millis();
+
+    if (dist_sensor.is_in_range()){ 
+        previous_time = current_time;
+        if(barrier.is_closed()){
+            barrier.open();
+        }
+    } else if (!dist_sensor.is_in_range() && barrier.is_open()){
+        if (current_time - previous_time >= barrier.open_time_seconds * 1000){
+            barrier.close();
+        }
+        
     }
 
 }