In order to set LPR (the "client" for LPD) up properly in Ubuntu, we first needed the IP address of the printer, which could be, for example, 192.168.1.127.
Next, go the System->Administration->Printing, and press the Add button.
Then, click "Network Printer" in the Devices list on the left, and choose "LPD/LPR Host or Printer".
Type in the printer's IP address into the "Host:" text box, and leave the Queue blank.
(The reason why there is no queue is because there is only one printer hosted on this LPD server (the printer itself). If we had a print server with two or more printers connected to it, we would have to specify the specific queue that is tied to the specific printer that we want to add. For instance, if the print server had an HP LaserJet and an HP DeskJet connected to it, with queue names HPLaserJet and HPDeskJet, respectively, then in order to add the HP LaserJet as a printer, we would put the IP address of the print server in the "Host:" field, and HPLaserJet in the "Queue:" field).
Getting back on track, press the forward button, and Ubuntu will find the proper driver (hopefully), offer you some print options (which for our purposes we did not need to change, press "Forward" to continue) and automatically make a name for the printer, which you can change if you want.
Finish up by pressing Apply, and it will ask you if you would like to print a test page.
Et Viola! Your printer should now be up and running!
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