....I was told I could connect my printer to so we can print from our iPad, iPhones and iPods.
Unfortunately, the information that you received is not correct.
In order to print from iOS devices, you need to have an AirPrint compatible printer. Your Samsung model is not on the list of AirPrint compatible devices. See this Apple support document for more details:
Adding or ssing an AirPort Express will not make your printer AirPrint compatible
As a possible workaround, Installing an App like Print Central on each of your iOS devices might allow you to print from the iOS devices to the printer.