Setting up a new Printer
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Remove old printer (if replacing one)
lpoptions -x printer-name
lpadmin -x printer-name
lpstat -p printer-name -l should complain about 'invalid destination name' after the previous two commands.
Next:
hp-setup -i 10.20.3.6 (or other IP)
Give queue name (i.e. starkweather)
Give location (Turing Lab)
Give additional information (i.e. HP Color Laserjet Pro 400)
Print test page; might get error about GUI support, ignore.
Done!