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https://www.angelfire.com/scifi2/mechresource/mech2/mwtrncpc.htm
I wonder if you could put the torso control on the numpad ? That'd give you 0 and + for two weapon groups, though it'd be a bit awkward, and you can probably free up Q for a third and spacebar for a fourth on mechs without JJs.
Its the standard WASD from any first person game, Space for jumpjets.
The other "movement" buttons are more or less just hockey's.
2 keys to snap feet or turret, which you were doing anyway with WASD/mouse. A full stop button, which is just a more precise way to come to a stop rather than holding S.
Compared to many other games, you don't need to hold W for forward motion, or shift to run/sprint etc.
If your having difficulties with mouse/mouse controls, maybe try a controller
As far as lancemates, in some missions I don't tell them to do much of anything. When I do give commands it's usually to tell one person (or all) to attack my target. That's two quick button presses and I'm back to doing other stuff. The mouse wheel should automatically be bound to zoom. As far as the third button, you might be able to configure that via mouse config software if your mouse manufacturer makes one. (Logitech has software for it's mice.)
There are also a variety of alternatives to standard mice, for people with issues using regular mice.
https://techrrival.com/best-alternatives-to-a-regular-computer-mouse/
I don't see how a flightstick would leviate your issues. You'll still have to trigger all the functions.
You mentioned hand issues so I checked your reviews and saw you played some FPS games. Did you have the same issues there aswell?
Pretty much all the keys I use are comfily around WASD. For movement I actually only use WASD, F to align legs with torso and occasionally X to make full stops.
I didn't even rebind a single key. It's all default.
Maybe you need to sadly get a bit more creative with your weapon groups since you don't have side buttons on your mouse? Using the chain function. I mean it's not ideal and limiting but I don't see another way.
Having to use the F-Keys is really the only thing that puts me out of my comfort zone and I sometimes hit the wrong keys.
A barebones optical mouse is going to be less useful for this than in some bog-standard FPS due to the need for constant tracking and the potential need for upwards of 5 weapon groups on some mechs. If you can't or won't switch to either a high DPI mouse or a trackball, the best I can suggest is to get used to using 3 weapon groups or less and leave weapon groups 1, 2, and 3 on LMB, RMB, and MMB, respectively. It's certainly doable for almost all mechs, even though it's not ideal for a large minority.
As for keyboard controls, they literally cannot be more simple. WS for throttle (stays where it's left by default), AD to turn. Q to target friendly closest to reticle, R to target enemy closest to reticle, T to target enemies in general. F1 is the only key needed for dealing with lancemates for 99% of the game and X zeroes throttle if you are feeling fancy. If that's too many keys, you might be better off playing candy crush, since that's the industry standard keyboard controls.
Regarding older MechWarrior titles: they were far less streamlines in terms of control layout than you remember, with the possible exception of MW4. I've played MW2 (and Mercs) and 3 recently and, while excellently written, paced, and executed, they lack a lot of modern conventions in terms of controls. MW2 is especially poor in this department, as it all but requires three hands or a joystick, thanks to minimal mouse support.
My movement keys are SAXD with W as my full stop - that's just personal preference. Really the ONLY keys I use outside that most of the time are F which is really important and (F!) and (F2).
I'm now rep9 in my first playthrough in the Campaign. Not having to use ECM etc yet so that might complicate things, but really it's just just A and D most of the time, and F when I lose track of my legs :)
I use a venerable A4tech with one of the thumb buttons remapped as a target lock. Naturally, you aim at something, you lock it with a single click, no need to move hands around. Other buttons including scroll press are mapped as 1-2-3-4 weapon groups, but you can put any macroses on them with a native editor and drivers.
I can't really use one through I've tried. I most certainly understand how it would be more useful though.