Try ArduBlocks
Don't want to learn C (or for that reason the Arduino IDE)?
Could you make a small flowchart/block diagram of the program you want? Then (want) to change it into a running script?
ArduBlocks will do that for you! Translate your flowchart/block into a Arduino program and then show it in the Arduino IDE! Not only is this a great way to "model and test" it could also make a great way to learn to program scripts (then you know C!!!)
What type blocks does it have? Almost any you can imagine. Makes a robot control program fairly easy to write.