We emptied ice bucket to fill cooler. Now all we get is crushed ice and not cubes. I can switch buttons from crushed to cubes but still get crushed. Did we do something wrong when I pulled out ice bucket to empty ice?

The solenoid has nothing to do with the crusher mechanism. Rather it delivers water to the ice tray when empty. Check that the ice door closes completely after ice is dispensed otherwise frost can build up in the crusher blades and prevent them from moving into position. Otherwise, check for a worn out part that connects to the blades and would prevent them from articulating.

Try replacing the ice bucket. That has the teeth and gears that crush the ice up. It could be stuck. If not then there's a solenoid in the back of the freezer that switches the ice bucket from cubed to crushed. You'll see the rod in the ice bucket slides into a square hole that moves up and down. That's it there.

Take out the ice bucket and check the metal arm and make sure it moves freely. Ice may have gotten stuck.

There is an metal arm that extends out behind the ice bucket that moves up and down when you press the cubed/crushed ice buttons. You need to take the ice bucket out and check the hardware. It's possible that some ice has managed to form in the unit and are blocking the motion. Remove any ice and check if the arm moves freely when you press the buttons on the refrigerator. Similarly, you should check if there is ice blocking the forward and back motion of the plunger in the freezer that bar sits on. This plunger is right next to the auger motor.

http://www.searspartsdirect.com/partsdirect/part-model/Maytag-Parts/Refrigerator-Parts/Model-MSD2651KES/3048/0165000/W0703730/00013 has a picture of the ice bucket parts.

remove the dispenser bucket where the ice drops into inside the freezer and get a Tupper ware bowl,remove the bucket and dump this ice into the bowl,then rinse with the dispenser bucket with warm tap water to melt any ice on each end of this ice maker,then wipe dry and replace into freezer where you removed it to get cold again and leave empty till the next harvest of ice,this can be normal on some units after so many weeks,as it will not let the blades retract so as just to dispense only cubes,once bucket is cleaned of ice jams the solenoid and blades will again retract for cubes only

This answer probably comes too late for you (you posted the question 9 months ago), but I want to record it here for posterity, since I had the same problem, and searching on Google for it brought up your question.
Anyway, I managed to fix this very problem by removing an ice cube that was wedged in the ice dispensing mechanism. The way this unit works is that it pushes the ice cubes through the mechanism, which always rotates the "crushing blades". When you select "cubed" ice, a lever opens up the exit chute wider, which causes the blades to simply push out the ice cubes as they pass through. When you select "crushed" ice, the lever closes the "exit" for the ice cubes to be narrower, so that the ice cubes can't be pushed through by the blades, and instead get crushed by them. I had an ice cube wedged in there that had the same effect of closing the exit to be narrower. Removing it fixed the problem.
You might want to collect all the ice cubes that have accumulated in the ice bucket in a container, empty the ice bucket, clean out the mechanism from any obstructions, and then put the ice cubes back into the ice bucket.

What is most likely your problem is the crushed ice solenoid. This solenoid, which is located next to the auger motor behind the ice bucket, is failing to actuate when you request cubed ice. Its "home" setting is crushed, and actuates to allow cubes past the crushing mechanism in the bucket. To be certain its the problem, remove the ice bucket, and tape the door light switch in the closed position. actuate the ice dispenser lever, for both cubed and crushed ice. you will see a square hole next to the rotating fork, when you select cubes, it should open. If it does open, there is something wrong with your ice bucket, perhaps the arm is broken, or the door inside bucket is off its snap in type hinge or broken altogether. If it doesnt open, replace the solenoid

Expert Refrigerator Repair Service in Chicago and Suburbs

remove bucket,empty into large bowel. inspect bucket opening,and be sure ther are no chunks of ice hindering movement of blade bypass mech. w/bucket out operate ice disp on crushed and cubed selections,listen for sharp snapping sound before motor turns.if sound is heard,reinstall bucket,and you should be good to go

There is a solinoid in the freezer section by the motor that turns the ice auger. Test it by selecting cubes and with the ice bucket out, open the door, hold the door switch so the lights turn out and push the dispenser button. It should make a loud snap and travel upward. If not then I would say you have a bad solinoid. If it does, then I would look at the bucket. the metal rod that runs along the side of the bucket opens a flap in the bucket that is supposed to let the full cubes drop. look for anything that might cause it to be hanging up.

there is a door in the bin that switches the cubes empty the bucket and make sure its not jammed also take the bucket out push cubes hold down the door switch not the one that turns the light off unless you unit only has one and push the switch with the door open in the back a leaver in a hole should jump up it not switch it to crushed and try it again if it still don't then the solenoid is bad or frozen