I think it's kind of odd that no-one mentions Processing 2 language which I just came across by accident. It appears to be what the Arduino IDE is based on and should run on Linaro Ubuntu ARM .. though I haven't tried it yet. It's light weight, easy to understand, and provides instant visual feedback and has some great tutorials. Processing also allows one to communicate with the outside world with the included libraries and has some traction in the Arduino community. It also supports GL. And you can build a program to run on the Android side of the house as well. Doesn't even require an install since it's JAVA based. I'm curious why no-one is discussing it. Seems a really good fit for UDOO iMX6 side. Am I missing something?