As Andy says, WPS is insecure and should be turned off / disabled. Using the ASUS router to connect to an identical network and then turning it off though is peak inventiveness lol 
If you don't still have the install disk for the printer, or don't have a CD-ROM to install it from you can (probably) download the support software from Samsung. From there, follow the instructions to connect it to your PC by USB first then run the installer to connect it to your wifi network.

If you don't still have the install disk for the printer, or don't have a CD-ROM to install it from you can (probably) download the support software from Samsung. From there, follow the instructions to connect it to your PC by USB first then run the installer to connect it to your wifi network.