Where are my horses hoves?

[Tuidjy]

You are underestimating charges. Both battles you're mentioning involved really
long spears (pikes) as well as disciplined infantry. And the Swiss were famous
for using them.

Without pikes, standing up to a heavy horse charge would be suicide, no matter
how disciplined the unit. And course, the only thing that pikes are good for,
against horse archers, is impersonating a pin cushion.

Firearms/longbows protected by pikes is what ended cavalry's reign, and mobile,
accurate field cannons eventually beat that combination.

[Agema]

You can have a look at Byzantine tactics. The Cataphract was their battlefield equivalent of a knight, but they did not carry out full-frontal charges. They were dual armed, bow and lance. If the enemy closed ranks to protect against a potential charge, they used bows. Similarly they used the cavalry more for flank envelopment, not as a frontal shock force. Therefore their tactical doctrines suggest they did not consider it wise to chuck heavy cavalry at an opponent who was not frail.

A full charge from knight was devastating, and commanders went to lengths to minimise the chances of receiving such a charge. However, against quality infantry - pikes or not - a frontal charge was also very painful for the knights. Historically, virtually every time knights charged heavy infantry it was done because the enemy was considered to be low quality, disordered or close to rout.