What mistakes did Napoleon make in the Battle of Waterloo? What is the reason for the failure?

Napoleon was indecisive in the Battle of Waterloo and made a series of mistakes. The reconnaissance organization is not strict, the situation judgment is not accurate, the troops are too scattered, and the battle formation is too deep, which weakens the initial assault capability and causes heavy casualties under enemy artillery fire. His main mistake lies in the poor organization of the army headquarters and the coordinated action of walking, riding and artillery. 18 12 The demoralization caused by the defeat of the French army in Russia and the deep crisis of Napoleon's empire were the important reasons for Napoleon's defeat at Waterloo.