Up until now our PiMazing maze solving game (track below) ran on the Pi and only used NodeRed workflow to perform the decision logic (a simple example is included in the Pi install).
It's now possible to use our Cannyblocks, a Google Blockly based visual programming environment similar to Scratch, to implement the maze solving logic on the Pi, iOS or Android device.
You can find an overview of Cannyblocks here (PDF)
Example Cannyblocks PiMazing program:
There is a video of Cannyblocks controlling the Turtle in action on a Pi, on iOS and on Android here.