Setup autom share network in my home

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http://askubuntu.com – Every computer in my home runs Ubuntu 12.04 We have a wireless network setup. I want to be able to share files & printer wirelessly over the network. But I am a total idiot when it comes to networking & do not have the slightest clue! Everything I can find on the subject assumes you are using 1 or more windows devices you want to connect toyour Linux machine. They say sambe of course. But I dont want to connect Windows devices. I would like to have every device automaticaly connect and be discoverable on the network by all other devices. Can someone help me do this in laymens terms??? (HowTos)