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To make things easy for the common user, he wrote a library called EasyTransfer which abstracts packetized serial communications between two Arduino boards. Binary communications on the other hand are more efficient, but a bit trickier to manage. While it makes things easy to troubleshoot, he admits that his custom protocols are wasteful of both processor time and bandwidth. When works on a project, he says that he typically writes his own NMEA standard communications protocols to fit the job at hand.
