What measures of punishment and encouragement were used in the Roman army?

For Roman legionaries, a variety of methods were used, both punishment and reward. Let’s start with the punishments, which include: reprimand in front of comrades, cut rations or cash payments, flogging and death. For example, if legionnaires fled from the battlefield and lost their standards, then decimation was applied (execution of every tenth in the ranks). The offender could have been killed by his own comrades.

Incentives: cash payment, promotion, transfer to a higher position, rewarding (medals, wreaths, spears) for bravery in battle.