Contained here are two examples that contain the Screen class for driving these handy serial LCD screens: https://www.sparkfun.com/products/9067.
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driver.nut is a simple, single screen hellow world example. Simply connect the RX pin on the screen to PIN1 of the Imp.
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example.nut is a more complext example that prints JSON from the internet (via a GET HTTP Request block) on two screens.