The Scratch visual programming language can now do physical computing!
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Read more about Scratch here: http://scratch.mit.edu/

There are two versions, Scratch 2(offline editor) for Windows, OSX, and Linux, and Scratch 1_4 for Raspberry Pi.

Check out our installation instructions and example projects at http://www.embeditelectronics.com/blog/learn/

You'll be able to light up RGB LED's, control servos, use ultrasonic rangers and buzzers, 
use capacative touch to use anything conductive as a button, and a whole lot more as easily as you would do anything else in Scratch!