 Complete the following phrase:  The conflicts culminated in 1474, after duke Sigismund of Austria had concluded a peace agreement with the confederates in Constance later called the Ewige Richtung. The confederates, united with the Alsatian cities and Sigismund in an anti-burgundian league, conquered part of the Burgundian Jura Franche-Comté, and the next year, Bernese forces conquered and ravaged the Vaud, which belonged to the Duchy of Savoy, which in turn was allied with Charles the Bold. The Sieben Zenden, with the help of Bernese and other confederate forces, drove the Savoyards out of the lower Valais after a victory in the Battle on the Planta in November 1475. In 1476, Charles retaliated and marched to Grandson with his army, but suffered three devastating defeats in a row, first in the 