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In wireless networks there is strong coupling among the traditional layers of the architecture, and these interactions can not be ignored. One example is the interaction between routing in the network layer and access control in the MAC layer. Another one is the coupling between power control in the physical layer and the scheduling in the MAC layer. In this paper, we assume a TDMA-based wireless ad-hoc network; and provide a centralized algorithm of joint power control, scheduling, and routing. Simulation results are given to show the improvement of the network performance by using the joint algorithm. Energy efficiency is another very important topic for ad hoc networks, and is considered in our algorithm. Our simulation shows that there is a trade-off between the energy consumption and the network performance, such as throughput and delay. Algorithm for distributed implementation is also discussed.