The best time to switch positions with a teammate is either after a person on your team serves the ball or if your team isnt serving: after someone on your team recieves the ball and it goes over the net but you should always be ready to play the ball even if you are running accross the court switching.
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You can switched positions after a serve has crossed the net. However, if your team is on serve receive it is typical to wait until your team has received the ball and sent it back over the net and then switch positions.
The number of times the players switch sides depends on how long the match goes / how many total points there are in the game.
During the first two sets, they switch sides when the points total a multiple of 7.
If the match goes to a third set, they switch sides when the points total a multiple of 5.
you just move to the place you want to be (example, from middle to left side) after the server has served the ball. You must switch back before every serve but that is all to it.