There have been so many posts on this topic that is getting ridiculous. People need to check out the excellent table of contents cheetah put up and read before they ask.

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"You there, knight!" "Yes, sir?" "We just lost that battle. Why did you order your men to charge that unit of enemy sergeants?" "Uh, I was impetuous, sir" "'IMPETUOUS!? Impetuous!? Men! Kill him, I want his head!"