How to bridge multiple wireless access points (and internet entry points) into one network

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http://serverfault.com – I have two DSL lines coming in to wireless access points and then running to a RV082 Gateway/Bridge. The gateway then runs to a switch, which runs to multiple PCs and a Printer (See picture below). Normally, I would set up the wireless access points behind the gateway, but they are also the modems for the dsl. I have found that I can not print to the network printer if I am connected to the wireless network, but only if I am connected to the wired network. How can I configure the Gateway and APs (Routers) so that the PCs and Printer are all on the same internal network? I have tried turning (HowTos)