Microcontroller USB implementation is peripheral only. In order to control a Printer or any other USB device requires a HOST.
The only thing that a host and a peripheral has in common is the name USB. They are totally different things and are not interchangeable.
So the bottom line is you cannot control a USB printer from a PICmicro unless you interface using a host peripheral such as ones supplied by Cypress or Philips etc. These are not simple devices to control and a knowledge of programming and USB is required. There is also the USBWIZ with its simple interface, but this may be overkill.
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