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There is a public bus system in Florianopolis, but it is not the most intuitive or easiest bus system to use. The system is set up as a series of nine hubs, one hub per major neighborhood in Florianopolis. To travel between neighborhoods means that you must go through the hubs of both the neighborhood you are traveling from and the neighborhood you are traveling to, and then take the bus from the hub to your destination. If you know Portuguese, you can look at bus schedules at the city's official transportation site, here.
Driving in Florianopolis can be a nightmare during the summer when the city is glutted with tourists and the roads are clogged with cars. It is advisable to avoid driving during the summer. If you have to drive, try to leave early in the morning when roads are less crowded. Driving during the off season is not a problem.
Taxis are probably the best way to get around. Taxi drivers in Floripa are honest and dependable, in contrast with taxi drivers in other big cities in Brazil.