My Epson printer
MY Epson printer and my iPad both indicate that they are connected to the same wireless network. The printer supports AirPrint. When I click PRINT and look for the printer the message comes back that no printer has been found.
iPad
There are many ways to connect to an AirPrint Capable Printer..
I would suggest; perusing the Apple Support Documents regarding: AirPrint
AirPrint Basics
http://support.apple.com/kb/HT4356
OS X: Connecting a Wi-Fi printer to your Wi-Fi network