the praetors Gaius Calpurnius Piso (Hispania Ulterior) and Lucius Quinctius Crispinus (Hispania Citerior) were given reinforcements consisting of 20,000 Latin and 3,000 Roman infantry and 800 Latin and 200 Roman cavalry. They conducted a common campaign. They joined their forces in Baeturia and marched into Carpetania, where the enemy camp was. Between the towns of Dipo and Toletum, a fight broke out between foraging parties and developed into a full battle. Being familiar with the ground and knowing the enemy tactics, the enemy routed the Romans, who lost 5,000 men. However, they did not keep up the pressure. The praetors left their camp the following night. At dawn the enemy approached the rampant and were surprised that it was empty. They remained in their camp for the next few days. Then they moved to the River Tagus. Meanwhile, the praetors, who had gathered auxiliaries from the allied Hispanic towns, encamped twelve miles from this river. Then they marched to the river banks at night. At dawn they saw an enemy fort on a hilltop on the other side of the river. They found two fords, split the army into two and crossed the river. The enemy watched them. They marvelled at their sudden appearance and discussed how to throw them in confusion while they were crossing. Meanwhile, the Romans brought over all their baggage, gathered in one place and, as they had no time to set up camp, lined up for battle. They had two legions. The fight was most intense in the centre and when the enemy saw that it could not be broken it formed a wedge formation. Gaius Calpurnius made a short detour with the cavalry and attacked the flank of the wedge. The allied cavalry attacked the other flank. The praetor rode so deep into the enemy ranks that it was difficult to distinguish which side he belonged to. His courage fired up both the cavalry and the infantry. The enemy was broken. The cavalry pursued the fugitives and a battle with the guard of the enemy camp started. The Cavalry had to dismount and fight on foot. The reserve infantry was called in to help. Only a few thousand out of a force of 35,000 escaped. The Romans lost 600 of their men and 150 auxiliaries. In 184 BC, the praetor Aulus Ternentius Varro and Publius Sempronius Longo were assigned Hispania Citerior and Ulterior respectively.