Configuring two wireless routers with one SSID

When we moved into the new home office a few years back we hard wired an Ethernet cable to the basement so I could run my large format printer in the basement. In my case I have a jack in the wall at the office side and it runs directly to a second jack in the basement, the printer is plugged directly into the wall Ethernet jack.

And now everything is wireless, the iPod, the iPad and iPhone, our laptop, it's all wireless. We have been using one wireless router to cover all corners of a two story house (poorly). Over the last few weeks it's been especially irritating as I've started using our devices from rooms I'd never had a wireless device in before.

I had an extra Intellinet Wireless Broadband Router in my pile of computer junk, and got the idea to expand my wireless network downstairs. I wanted to be able to continue to use my large format printer in the same network (as if the router were a switch (jack to LAN, from LAN to printer) and also let my devices roam smoothly between the wireless routers...hopefully that is all possible? This so far has been unsuccessful, as I have to have the printer plugged directly into the wall jack to print.

This is what I have accomplished so far, after reading Rob's post "how-tos/connecting-2-routers-together-37891", and Scott Hanselman's post "Configuring Two Wireless Routers With One SSID Network Name At Home For Free Roaming".

Technical Summary

Motorola SURFboard SBG6580 (upstairs)
IP Address 192.168.0.1
Subnet Mask 255.255.255.0
DHCP enabled
DHCP to use the range 192.168.1.3 to 192.168.1.254
Wireless channel 11
(This all went smoothly on the Motorola, I think, we have no interruption in connection, and seem to still be up and runing)

Intellinet Wireless Broadband Router (downstairs)
IP Address 192.168.0.2
Subnet Mask 255.255.255.0
DHCP is disabled
Channel 6

Same SSID
Same WPA TKIP - Identical wireless security setup as First Router

The plug is in the LAN port, not the WAN port.
In my case I have an Ethernet run going from a LAN port on my first router to a Linksys switch. The switch then plugged into an Ethernet jack in the wall it runs directly to a second jack in the basement. The second router is plugged into the jack from its LAN port.

Issues

I get partway on the above configuration of the second router. When I set the WAN IP Address on the second router to 192.168.0.2 everything is fine, and then I move on to set the LAN IP Address (from 192.168.2.1) to 192.168.0.2 a message comes up on the screen that tells me I need to "re-connect web server". So I shut down the browser window and restart the browser plug in the IP address 192.168.0.2 and it tells me it's a page that's not available. Then I put in the old IP address and it's not available anymore. If I then run and ipconfig/all, there is now no IP address, no default gateway, and no subnet mask.
Instead of moving the router upstairs and plugging it into one of the main computers like Scott suggested, I took a laptop downstairs to do the configuration of the second router, also I didn't turn off the first modem/router as it is the only link I have to the internet so I didn't think I would be able to use my browser to find the second router unless it was on. I'm not sure if I am on the right track, but I followed the thread "network-troubleshooting/two-wireless-routers-5078" and it seemed I was on the right track, but the thread petered out before I had my questions answered.
This is as far as I have gotten, by reading the posts, and now I am at a loss as what to do next to resolve the issue. Can anyone help?