if you have a button assigned to reload (i chose X) and a charged battery in your inventory just press that button while whatever item your swapping batteries for is equiped. you should see a little menu appear right above your hotbar. use the d-pad to select the charged battery (should be 1 over to the right) and press A. you should now have the charged battery in the item and the dead one in your inventory ready for recharging.
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