These formations had great successes on the battlefield, starting with the astonishing victories of the Swiss cantons against Charles the Bold of Burgundy in the Burgundian Wars, in which the Swiss participated in 1476 and 1477. In the battles of Grandson, Morat and Nancy, the Swiss not only successfully resisted the attacks of enemy knights, as the relatively passive Scottish and Flemish infantry squares had done in the earlier Middle Ages, but also marched to the attack with great speed and in good formation, their attack columns steamrolling the Burgundian forces, sometimes with great massacre.