@sterretje . This is schematic, the first two motors sharing the same power supply are meant to be solenoids, the third with external power supply is the pump's.
I simulated it and it was running exactly as I wanted
The board shown is UNO, in my real circuit it is replaced by mega, it has no any difference.
so the voltage I was telling I measured across relays contact is across each relay contact input and ground when connect.
you can try to draw it in proteus and simulate it with the code I sent. You will see how it's running.
I'm not sure my problem needed this much details, it is only a fail to uppload which I believe was not caused by the circuit.