During the Republic, how did the Romans ensure good discipline and promote bravery among their soldiers?

As described by the Greek historian Polybius, the Romans ensured good discipline and promoted bravery among their soldiers in two simultaneous ways - rewards for bravery, and punishment for cowardice and violation of discipline.
For displaying courage, soldiers used to receive money, promotion, booty, distinctions and other rewards. Soldiers were rewarded for their valor - a soldier was given a javelin if he wounded an enemy soldier; however, if a soldier killed an enemy soldier and stripped off his armor, then the prizes were different for the soldiers of different divisions - if a soldier was of the infantry, he was given a goblet; if the soldier was of cavalry then he was given furniture for horses. 
However, previously, the soldier was given only a javelin for the cavalryman. On the other hand, there were different kinds of punishment to maintain discipline in the camp and the battlefield. One kind of punishment called decimation was applied for cowardice in the battlefield. 
Other punishments included but not limited to the loss of booty pay or rank, clubbing, public embarrassment, dishonorable discharge, stoning, flogging, crucifixion, being sold into slavery or even execution. 
If a soldier was caught stealing something from the camp, or discarded his armor or other tools, gave false witness, left his post, then he was clubbed to death. If a soldier fled from the battlefield, then he was crucified or thrown among wild beasts. 
The main principle behind these punishments was that breaking one’s oath of allegiance corresponded to the loss of all rights.

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