I'm developing exactly what you are looking for. Still has a ways to go. It is a combination of blocky control software, called StemStacks and hardware interface to an assortment of sensors and controllers called StemCube.
Sensors include Radar, switches, temperature, moisture, IR, etc. Controller can control RC servos, dc motors, Lego motors, small steppers, relays, etc. If interested, let me know and I'll post the link and maybe a video or two. Been working on it for a while and starting to consider making it for primetime. Hoping to fund it through CrowdSupply.