Arduino Controller, arduino trinket with Zigbee modules end point, to control motors

General information for the business: We manufactor doors and windows, with motorization
Kind of development: New program from scratch
Num. of modules: 2
Description of every module: Main controller Arduino Uno with zigbee shield controls 2-3 remote arduino trinket processors
2 Arduino trinket prototype board with zigbee XB24-2 series modules
Description of requirements/functionality: Controller moditor feeback from remote modules- controller signals the remote to start motor up or down.
controller has 2 modes, doors up, doors down, when the doors are raised by the remote modules, the controller signals other automation systems that the doors are safely in the raised position. The signal can be a contract goes to ground, or relay opens.

The remotes are always on, they will update the controller with wireless signals about their status regularly, and respond to commands from the controller at any time.
OS requirements: Windows, Other
Extra notes: Attached diagram show layout of parts. The controller will monitor the remotes over the xbee network connection. The controller when a pin goes to ground will send command fro remote to rotate DC motor is a specific direction. The motor will have an encoder and the remote will stop at a preset value. The remote will signal controller when completed. When both motor report being in position up the controller set the state on a contract to signal other automation systems. When the controllers other pin goes to ground, the controller signals the remote to rotate the motor in the oposite direction until an encoder position is reached. When both remote are in the position the controller set the state of the third pin to signal otherautomation systems. 2 states with an error state is the design goal.