Quite the reverse when fighting against foot I seem to recall from Roman drill. The soldiers and centurions were trained that at a certain distance from the enemy you start to advance, at a certain distance you throw your pila, then you get stuck in. Against an advancing enemy you needed to start the process from further away. This was such a feature that at Pharsalus Pompey went to pains to get his troops to receive at the halt. Caesar, from Civil War:pyruse wrote:What makes you think Romans charging without orders is unlikely?
Read Gallic Wars or the Civil War. Legionaries are forever piling in without orders.
"Pompey had ordered his soldiers to await Caesar's attack and not to advance from their position, or suffer their line to be put into disorder. He is said to have done this by the advice of Gaius Triarius, that the impetuosity of the charge of Caesar's soldiers might be checked, and their line broken, and that Pompey's troops remaining in their ranks, might attack them while in disorder".
Caesar however, saw what was happening and halted and redressed his line before charging in from closer.








