To install dependencies on Ubuntu 20.04:

sudo apt-get install libdevice-serialport-perl libyaml-perl

Download the Arduino IDE for your architecture here: https://www.arduino.cc/en/software

Extract the archive: cd /usr/local && sudo tar -xvf arduino-1.x.xx-arch.tar.xz

Symlink to the versioned directory where the IDE was installed: sudo ln -s /usr/local/arduino-1.x.xx /usr/local/arduino

Clone the Arduino makefile repo from https://github.com/sudar/Arduino-Makefile: cd /usr/local/arduino && sudo git clone [email protected]:sudar/Arduino-Makefile.git

Create a directory where we can store any required third party libraries: sudo mkdir /usr/local/arduino-libraries

You can read more about this makefile I'm using here: https://hardwarefun.com/tutorials/compiling-arduino-sketches-using-makefile