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In my experience, you cannot manually select which AP you connect to as your wireless card automatically selects the best one. However, your two APs broadcasting the same SSID must be on different channels in order for this to work correctly. If you set both on the same channel, your wireless card will be "confused" as to which AP to associate.
Yes, but in WDS you can use AP on the same channel. Client change AP only when signal from actual AP is lost?