You can certainly feel your way with C++, especially because arduino has no multi-tasking so resources are all available to the code for that matter. I only need to write constructor but no need for copy constructor or destructor, which are there specifically to deal with resource allocation and release. You also don't do lots of polymorphism except for just compiler lever. There's not much memory for that either. So it boils down to me that encapsulation was most important and not much inheritance. So a quick dip into C++ can get you started, only if you already know C.