Is there a command line uploader - TeensyUser/doc GitHub Wiki
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Yes, here you find some information about the usage and installation of the PJRC teensy loader cli. Sources can be found here.
Note: Looks like the CLI can only program Teensies in usb serial mode without pressing the program button. For other USB modes you need to first start the bootloader by pressing the programming button. (Please remove this remark if it is fixed already) -
TyTools also contain a CLI version.