Finally able to print through Wireless Router!! (USR MaxG)

So, after a full week of trying to get my printer to print wirelessly, I finally got it to work... but only after I had begun to write this post on the Apple Forums. So, since I felt like this post was extremely clear in the process, I'm posting it, in case anyone else has the same problem. I hope this helps someone, since it was impossible for me to find a post that really offered a clear explanation for how to print wirelessly...
Here's my post:
No matter what I do, I can't seem to print to my wireless router! Unless, that is, when I use my girlfriend's Windows computer. I'm able to print through the router to my printer via WinXP, but not OS X 1.4. Whenever I try to print in OS X, I get the error messages "Unable to find host..." or "Jobs Stopped."
Here's my hardware:
Router:
U.S. Robotics Wireless MAXg Router (USR5461)
Firmware: 3.93.35.0.6 (Jan 5 2006)
Printer status: Ready
Printer location: http://192.168.2.1:1631/printers/My_Printer
Printer:
Samsung ML-2510
Computer:
MacBook Pro
OS X 10.4
Here's what I've tried to do most recently:
1) Applications> Utilities> Print Set Up Utility.
2) Click "Add Printer" in Printer List
3) Click "More Printers..." in print browser while holding down alt/option key
4) Select "Advanced in Pull down menu
5) Under Device, select Internet Printing Protocol using HTTP
6) Under Device Name, insert "My_Printer" (listed above)
7) Under Device URI, insert "http://192.168.2.1:1631/printers/My_Printer" (above)
8) Under Printer Model, select "Samsung ML-2510 series"
9) Click OK; make My_Printer default; and test print
Results:
(Printer actually prints) AMAZING!! I finally was able to get it to print. Apple forums is magical
Hopes this helps.

Thank you, thank you, thank you!!!!! I spent the past 3 hours trying to figure out why I couldn't get my mac to print on the wireless router. I found your posting about 2 hours into my quest, and it took me another hour to finally realize I needed to update the firmware on the router. I was using something from 2005, so when I installed the update, your directions worked! I never felt so happy to hear the printer! :-D
If you hadn't posted this, I would have never figured it out...thanks again!

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