I'm aware of C++ and Object Pascal, but are there any other object-oriented languages whose compilers currently can compile them to run on a machine with no operating system? If there are, do they have a sizeable community and acceptably good documentation?
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Ada is often used in embedded environments. I don't know how much of a community it has nowadays, but it's got a tradition of excellent documentation, and (in my humble opinion) its designers made different mistakes from the mistakes of the C family, which is refreshing.
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Tcl is used in embedded applications. There are OO extensions to it, and I believe there are plans to bake in some of that functionality natively.