Printing to Impact Printer from Command Line

I have a Raspberry Pi running Raspbian and I bought an impact printer (Epson LX-350) that I plan on hooking up to the computer via USB cable once it arrives. My goal is to be able to have a script periodically output lines of ASCII text to the printer as certain events happen. I don't care about it being pretty, in fancy fonts, large font sizes, worrying about files, or worrying about spooling print jobs from multiple users over multiple printers. It seems like I can plug in the printer, not install any specific drivers, and then use commands like echo "Line 1\r\nLine 2\r\nLine 3\r\n" | lp -d /dev/usb/lpXXX. I don't have the printer right now to try it out on, but am I missing anything I should research while I'm waiting for the printer to arrive?