Can i print from iPad wireless to my printer w/o getting an Air printer?

I have a router that can print from my PC or from my Lenovo laptop wirelessly to a Canon printer that is wired to the router via an ethernet cable. is there some way to get the iPad to see the printer without having to buy on of those Air Printers? i bought Print Central but that is cumbersome as i have to be using Print Central to have it print something. i can't just have an email open and be able to print. i just want to be able to print anything that is on the iPad screen.
Thanks

It's possible to use free software (Virtualbox and Ubuntu) to fix the broken iOS 5 Airprint printing with non supported printers.  Here's a fix that works on my imac, but should also work on even a windows pc.
My setup is a lion imac with 2 non-airprint supported usb printers attached, a belkin wifi router that provides network connectivity for my imac, ipad, and iphone.
Install ubuntu 11.10 in a virtualbox vm.  Specify to use the "Bridged Adapter" with "en1: WiFi (AirPort)" for the network hardware.  Make sure the imac's usb printers are setup with sharing.  On ubuntu, select System Settings > Printers and add your imac's shared printers to the list.  Then start ubuntu's firefox and set "localhost:631" in the address. On the administration tab, under the Server section, check "Share printers connected to this system" and hit Change Settings button to activate it.  Go back to ubuntu's printer setup, and right click on each printer and check that the properties Policies tab does not have any messages about it being unshared. If so, then go back to firefox and make sure the Server sharing checkbox is enabled. It may help to reboot.
Fire up virtualbox to be able to use AirPort printing to your imac's usb printers, when you want to print from the iphone or ipad. This also works on iOS 5.
Only problem is error message from iphone to check the printer for errors, even though it actually prints ok.
references: 
http://askubuntu.com/questions/26130/how-can-share-my-printer-so-that-i-can-use- it-with-airprint
https://lists.ubuntu.com/archives/ubuntu-devel/2011-June/033611.html

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