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The steps may differ depending upon what wireless adapter you have.
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54Mbps should be sufficient for most uses (at the time of writing still much faster than most broadband connections), but you may want to consider a faster adapter if streaming HD video over a local network. Wireless G adapters will still work with a Wireless N router but will be limited to the speed of G adapter. Which compares with up to 150Mbps for 802.11n. The 802.11g networking standard works at a maximum of 54Mbps although actual throughput will be lower. These are still available very cheaply online. I have two of these adapters both of which have identical model numbers. This is for the model with model number F5D7050 and IDP81976-D. Networking adapters can sometimes use the same name, but have a very different chipset. This is for the Wireless G (54Mbps) USB adapter, which has now been superseded by Wireless N adapters. This is based on the Raspberry Pi Debian image. If you are changing wireless networks a lot then you may want to consider a GUI application to manage the wireless connections for you, although that can still be handled via the command line. This is the configuration for a single wireless network. As this will show some of what is going on behind the scenes. I have deliberately done this all on the command line rather than using a GUI application. These are the steps involved in getting a Belkin USB network adapter to work on the Raspberry Pi.
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