One way to implement infantry, and not have to change too much at all, could be like this.
Think of a 5 man infantry squad as a bomber... with 5 gun positions. Here are your 5 "positions"
1) Squad Leader - Primary: Sub Machine Gun / Secondary: 45 pistol
2) Rifleman 1 - Primary: M1 / Secondary: 45 pistol
3) Rifleman 2 - Primary: M1 / Secondary: 45 pistol
4) Rifleman 3 - Primary: BAR / Secondary: Grenades
5) Bazookaman - Primary: M1 / Secondary: Bazooka
True... infantry squads were bigger than that, but a 5 man squad would work with what we have. And they could work just like bombers do too. The person who spawns the squad, can occupy any position they want to. If that position (or squadmember) gets taken out, then its no longer available.
Also... just as bombers do now, you could have all squadmembers shoot at one target, or shoot from just your position. The Secondary weapon would be controlled by the secondary fire button.
You could also allow other to "join" you. Movement of the squad would be controlled by the squadleader, but then you could shoot at more than one target at a time.
They would be controlled by the barracks from each base (and have to spawn in next to one of them), and could use vehicle spawns to spawn away form their base if need be.
Probably wouldnt make a huge impact in most cases though. Although I can see them being used to defend a maproom, take out tanks with the bazooka, or as a last ditch method of defense.
Unless of course the abillity to load in one of these squads into an M3 or Goon was made available... then you could see some interesting tactics