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Actually there were several such inventions.

Stirrups were new in medieval European warfare and arched saddles were developed to go with them, allowing for the invention of new tactics that used a new type of lance, couched below the arm. This made it very difficult to deal mounted cavalry, or knights, with for quite a while.

Another important medieval invention used in combat was the steel crossbow.

The counterweight trebuchet was invented in the twelfth century.

Yet another development was the English longbow, which was not a new invention, but was useful as a result of a policy that had certain men practice Archery with bows of tremendous power. The tactics invented to use this proved an answer to the mounted knight, as it meant that an army of thoroughly trained peasants could utterly destroy a larger army of men in plate armor and riding horses. This happened at Crecy, Agincourt, and other battles.

Another important weapon of the middle ages was gunpowder, which enabled cannons and firearms. This made it possible for relatively untrained peasants to deal with knights almost as well as the highly trained English had with their longbows.

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