A wireless transmission method for controlling a plurality of actuators in a wireless network, the method comprising the steps of: providing a commanding node and a plurality of sub-networks, each of the sub-networks including at least one responding node (552a-j), which provides operation of an actuator; assigning time slots to the sub-networks such that time slots assigned to each said sub-network are interleaved in time with time slots assigned to at least one other said sub-network, each time slot having a respective time duration (tj), the time slots being distributed on a minimal number of different frequency channels such that a sum of the time durations (tj) of the respective time slots distributed to each frequency channel is less than or equal to a maximum time; and within each said time slot, transmitting a command packet from the commanding node and at least one acknowledgement packet from the at least one responding node (552a-j), the command packet including: a respective selection bit for each of the responding nodes (552a-j) in the sub-network that is assigned to a current said time slot, each said selection bit indicating whether the respective responding node is to operate, according to its actuator function; and at least one direction bit, each said direction bit corresponding to a respective said responding node (552a-j) in the sub-network that is assigned to a current said time slot, each said direction bit indicating a mode of operation of the respective said responding node (552a-j), when providing the actuator function. providing a commanding node and a plurality of sub-networks, each of the sub-networks including at least one responding node (552a-j), which provides operation of an actuator; assigning time slots to the sub-networks such that time slots assigned to each said sub-network are interleaved in time with time slots assigned to at least one other said sub-network, each time slot having a respective time duration (tj), the time slots being distributed on a minimal number of different frequency channels such that a sum of the time durations (tj) of the respective time slots distributed to each frequency channel is less than or equal to a maximum time; and within each said time slot, transmitting a command packet from the commanding node and at least one acknowledgement packet from the at least one responding node (552a-j), the command packet including: a respective selection bit for each of the responding nodes (552a-j) in the sub-network that is assigned to a current said time slot, each said selection bit indicating whether the respective responding node is to operate, according to its actuator function; and at least one direction bit, each said direction bit corresponding to a respective said responding node (552a-j) in the sub-network that is assigned to a current said time slot, each said direction bit indicating a mode of operation of the respective said responding node (552a-j), when providing the actuator function. a respective selection bit for each of the responding nodes (552a-j) in the sub-network that is assigned to a current said time slot, each said selection bit indicating whether the respective responding node is to operate, according to its actuator function; and at least one direction bit, each said direction bit corresponding to a respective said responding node (552a-j) in the sub-network that is assigned to a current said time slot, each said direction bit indicating a mode of operation of the respective said responding node (552a-j), when providing the actuator function.