Software gets increasing matter in control systems such as cyber-physical systems and pervasive computing. Beyond the reliability and performance requirements, the software must continuously evolve and adapt to new needs and constraints from the physical world or technical support (reconfiguration and maintenance). Model engineering aims to shorten the development cycle by focusing on abstractions and partially automating code generation. In this article, we explore the assistance for stepwise transition from the models to the code to reduce the application development time. The model covers structural, dynamic and functional aspects of the control system. The target code is that of a system distributed over several devices. To conduct the experiments, the models are written in UML (or SysML) and programs deployed on Android and Lego EV3. We report the lessons learnt for future work.