The standard Arduino platform is essentially C, just with some standard hardware-near procedures hidden away as far as I know. You can just write standard C code in two blocks: init and loop. Then the loop block will be repeated for ever. For controlling voltage pins you have easy commands similatlr to like pinState(PinNumber, on/off). I do not know about the others you mentioned, but there definetely is also some implementations for Raspberry Pi control by drag&drop. There is no need to limit yourself with those though.