 Complete the following phrase:  Throughout its history, the tercios composition and battlefield formations and tactics evolved to meet new challenges. Tercio formations with well-trained troops and good cavalry support continued to win major battles in the 17th century such as Wimpfen 1622, Fleurus 1622, Breda 1624, Nördlingen 1634, Thionville 1639, Honnecourt 1641 and Valenciennes 1656. It was not until Rocroi 1643 that the Spanish tercios reputation of near invincibility in open battle was shattered. Still, the Rocroi defeat was precipitated by the collapse of the supporting cavalry rather than the failure of the tercios infantry. Tercios continued to win battles after Rocroi, such as Tuttlingen the same year or 