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Then give specific orders to each one of those classes through specific control keys.
Open up your Party Menu.
Click on a Unit.
In the main window, it will display the unit and it's "Class." (Infantry, Archer, Cavalry) *(It's "Group" really. But, it starts out by organizing them in Classes, for easy comprehension of the system. But, you can assign any unit to any group you wish.)
Click on the Class.
A window will open up and you will see the standard classes and a number of free slots for custom class designations. Click on any of these to reassign the unit. You can also reassign it to a custom class and you can name that class. For instance, I assign Companions to a new class that I call "Heroes."
In that list of classes, each of those is referenced by one of the number keys during battle. So, for instance, if you wish to give orders to your Infantry, its default number is 1. (It's at the top of the list, IIRC.) Archers are the seconded listed in that Class list, so their number is 2. Cavalry is 3. The next Class is free for you to name, but its number will be 4. The one after that is 5.
During battle, issue orders by first pressing the corresponding number of the Class (Group, really) you wish to order and then the Function menu will pop up. Here, type the Function Key corresponding with the order you wish to give to that unit.
* Edit - Added "Group" note.
Yup! When in doubt, 0, F1, F3. :)
I find that, in sieges, selecting the units closest to me using "-" (Minus key on the keyboard) helps a lot. I can gather up troops near me to assault weak positions along the wall without having to order an entire group to follow me.