Help with wifi connections

I hope someone can help me. I have an IPad 2 & an HP Deskjet 2540. The only way I can print is via cloud. If what I want to print is in PDF I can save it to my iBooks. What I am unable to do is have my IPad (2) and my printer connected to wifi at the same time. I Have to switch back and forth. How can I change settings to have them on wifi together??? I have spent the past week trying to find a way in settings to change it. I had my settings so messed up from this cloud to that app to this app that I had to reset my settings.
I pray someone here can hep.

ISSUE--Unable to have both my iPad and wireless printer connected to wifi at the same time.