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Select your infantry and general and make 'em a group. Break out the cav and elephants as seperately controlled units.
Set up your missile troops as a group in line formation.
1) Move your missile group close enough to the Macedonians to get them to shoot at them and then run like hell when the Macedonians shoot back. This tends to (if you're lucky) spur the Macedonians to follow them. Keep doing this until the Macedonians are commited to following you.
2) Have your cavalry and elephants hiding behind the hills to the left and right of your starting position.
3) Set your infantry to guard and lure the Macedonians in with step 1.
Once the Macedonians are close enough or even better yet engaged with your infantry use your hidden cav and elephants to flank 'em. Charge hard and fast. Get 'em in there mixing it up with the Macedonian flanks and rear.
Like I said I've never beat Pydna either but doing the above got me as close as I've ever been.
1. Park your troops on one of the hills and refuse one flank (left or right depending on the hill and terrain)
2. Flank your line with Equites on one side and Triarii on the other. These flanks will support you in the upcoming cavalry onslaught.
3. Park your general behind your line with your skirmishers (turn off auto fire and skrimish mode) - obvious but had to be said.
4. Place elephants on one flank. Keep them away from skirmish fire.
5. There will be two waves of Macedonian cavalry approaching from different directions. Micro your flanks to take out those cav. Make sure you pin the cavalry (best unit to do this is Equite) and finish off with infantry (flank and surround).
6. The cavalry should go down pretty quick because they have low defence. The AI is usually quite passive and will not engage you with their pike line until you massacre their cavalry (on Legendary you have to shield against a pike push and sacrifice two units or so).
7. Reform your line. This time, place the remaining Triarii and Principes as the center line. Flank this line with a refused Hastati line on one side and Elephants and Equites on the other.
8. Engage his pike line with your main line. They should hold for quite a while, but will lose over time in a head on engagement. Target their hoplites with your skirmishers.
9. Swing your Elephants and Equites behind their line and smash them into the back where the AI will park their skirmishers. Pull your Equites out straight away, leave your Elephants. If your Elephants panic and run towards your line, kill them.
10. Swing your Hastati line down and outflank the pikes by "wrapping around" the line.
11. Bring your Equites back around and keep hammering any openings where their pikes have their backs towards your forces.
12. Keep your main line's morale up with Rally.
13. Rinse and repeat steps 10 - 12.
Win!