Tibbe has to calm down and wait before I will open the front door to go out, otherwise the door shuts again and we start over. He's now learned what to do and is very quick to get into his position on the rug with his big smile on his face, eyes bright, tail a blur, and wait in his spot on the rug until I open the door and walk outside. He then can come to the door opening and wait in it until "release" command given to walk onto the porch and wait. We worked on all of this using just very gentle, calm and positive reinforcement technique and Tibbe has enjoyed his training sooooooooooo much! He's the most willing little trainee ever! He's too willing! He would train until I dropped.
You can use positive reinforcement to train your dog not to bark constantly while out on the leash. The techniques really work.
I use the loose lead training on Tibbe to great success. It takes lots of patience at first and lots of persistence but keep up good training habits and your doggie will soon walk on lead normally and approach an open door as you would prefer - all while still enjoying herself immensely.
Yorkies are very willing participants when training - that is, if you are. They will always follow your lead! I will cut a session short if I just can't get into that day or if I am sort of impatient that day or something. Try to train in a good mood only. Good luck and let us know how it is going. We have all been where you are at one time or another!