Lostplanet22 said:
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All you have to do is turn on your headset during the middle of the game and start talking. A little speaking icon will appear next to your name when you are talking, and it will also appear next to the name of your squadmates when they are talking.
You can only hear your squadmates. The reason you never hear anyone talking is probably because you're just getting in squads with people who don't talk. It's a pity, but I'd say around 90-95% of the Bad Company 2 gamers don't use a headset. Sometimes I find another person in my squad who uses a headset though, and it helps so much. When you can really communicate with your team and tell them things, you end up destroying the other teams.
Conversely, it's the other teams, full of lvl 50 guys who are in a party and all have headsets, that destroy everyone else 100% of the time.