We've recently launched an IoT Cookbook which offers recipes for IoT components and applications, e.g. an alarm application which can use one or more Tessels with accelerometers and a Tessel with a camera module.
Everything is connected through the open-source WAMP protocol, which enables all components to communicate as equals using PubSub and routed RPCs (i.e. any component can call procedures on any other component). Since this is cross-language and cross-platform, applications can encompass multiple devices and device classes.
For the Tessel, there is an accelerometer and a camera component (which is what we have at hand to develop on), but this can easily be adapted for other modules - and combined with other devices. The alarm application has (optional) components using a Raspberry Pi (camera, text-to-speech output) and Arduino Yun (accelerometer, alarm lights, hardware controls).
So take a look and experiment a bit! Everything is open source, and your contributions would of course be highly welcome!