I loved RobotC back in my Lego Mindstorms days. Now it's available for Arduino, too. One of the big advantages of RobotC is one of the best debuggers in the industry, which is a glaring omission in regular Arduino (RobotC loads a special bootloader that tracks variables and provides that real-time debugging function).
That said, I've tried this and couldn't get it to work with an Arduino Duemilanova, so I'm not ready to recommend it personally yet.
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Windows only. bummer.