need to configure router?

Unless you have a very large network (more than 250 hosts on the network), you will be better off using a single sub-net. Since your router has an address of 192.168.0.1, you should probably choose the 192.168.0.0 sub-net.

A genuine wireless access point (WAP) does not normally offer any routing functions, and the only reason that they have an IP address is so that you can connect to them over the network to make changes to the wireless configuration. Normally, a WAP will be given a unique address on the sub-net to which it is attached, and that address will be outside the range of addresses that the main router's DHCP service can use. For example, my network is normally set up as follows:

Router address 192.168.1.254

DHCP address range 192.168.1.2 to 192.168.1.100

My WAP address 192.168.1.251

To prove the point about the WAP address being used only for configuration, I have changed the address of my WAP to 192.168.31.123. (I will have to configure a manual address on my PC to access the WAP to change its address back again.)

A few WAPs have a DHCP server built in to them. If your WAPs include DHCP, this should be disabled.

You should not need to set up any static routes, and as a genuine WAP does not perform any routing.

I hope this helps.

The ip you given here is sometimes it is to access the device we can set an ip to access the router or access point graphically , but the dhcp is the feature inside which will allot ip address to the connected device , make all device under the same range this is private network so you just set ips to all from the range 192.168.1.1 to 192.168.1.100 if you add subnet mask then the default is enough this is not complex what the reason it won't communicate may be the ip of different range as said in the first answer , try ensure pinging to all devices

and in router check if this is enabled " Enable Automatic Assigned Default Gateway"

Routing -- Default Gateway

If Enable Automatic Assigned Default Gateway checkbox is selected, this router will accept the first received default gateway assignment from one of the PPPoA, PPPoE or MER/DHCP enabled PVC(s). If the checkbox is not selected, enter the static default gateway AND/OR a WAN interface. Click 'Save/Apply' button to save it.

NOTE: If changing the Automatic Assigned Default Gateway from unselected to selected, You must reboot the router to get the automatic assigned default gateway.

You have to be in the same subnet. If the router is in 192.168.0.1, then the AP must also be in the 192.168.0.x subnet.

The only way you can go to another subnet is with another router, which complicates things (possible to do by those that know how to network things, but most home users may get all messed up)

There is no reason why you cannot put the AP in the same subnet....

Are those really simple Access Points or are they wireless routers? If they are access points, then you simply need to set them to the same 192.168.1.0 network of your router (preferably outside of DHCP assigned range). To make connecting between the 2 access points transparent, they should use same SSID and security settings, but different channel at least 5 channels apart (if one is on default channel 6, the other should be 1 or 11).

The rest below is in case what you are calling an Access Point is actually a wireless router (since you mention adding a route to it). Having 2 wireless NAT routers connected to the same network can be problematic if computer or other wireless device flip/flops between them.

If they are routers, you need to see if they are capable of being bridged like an access point, so all IPs are similarly on same 192.168.1.0 network like in first paragraph. Otherwise you need make sure that the printer only connects to one of the wireless routers, forward whatever ports are used for printing to the (wireless) LAN IP of the printer, and set any computers to use the WAN IP of the wireless router the printer is connected to. Common ports use for print servers built into printers are port 515 for LPR/LPD type printing, 9100 for (HP) JetDirect, by setting a "Local" TCP port in Windows to the IP of the printer if the wireless router is bridged, or to WAN IP of wireless router if that port is forwarded in router to printer IP.

If the wireless router is capable of doing actual routing between subnets (without NAT), any computers that would want to connect to that would need a network specific route added to them for 192.168.1.0/255.255.255.0 network using WAN IP of the router that is in the 192.168.0.0 network.

Anyway, real access points would be simple, wireless routers not.

Example:

Main router - 192.168.0.1

DHCP Settings - 192.168.0.100 - 192.168.0.200

First AP - 192.168.0.2

Second AP - 192.168.0.3 and all equipment you have in the same subnet.

Disable the DHCP server & NAT on both AP's, just have R1 with a DHCP server.& NAT.