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Specify library dependencies in library.properties
Specifying the library dependencies in the depends
field of library.properties causes the Arduino Library Manager (Arduino IDE 1.8.10 and newer) to offer to install any missing dependencies during installation of this library.
arduino-cli lib install
will automatically install the dependencies (arduino-cli 0.7.0 and newer).
Reference: https://github.com/arduino/Arduino/wiki/Arduino-IDE-1.5:-Library-specification#libraryproperties-file-format