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Copy-Paste order details from the order-taking app to the printer app
If you are only processing a small number of orders or do not yet have your thermal printer, then you can use this as a temp solution with any application installed on the device which supports printing (SMS app, Notes, etc.). Like this:
There are a few more clicks and long-press paste operations on each printed order but the advantage of this solution is that is reliably working, even with WiFi or Bluetooth thermal printers that provide utility apps for receipt printing. Like this: