The main problem the Spanish Army of Flanders had leading up to Rocroi is that because of conflicts and distrust between different commanders, certain units of the army basically functioned as separate armies. It was hard to coordinate and impose a disciplined battle plan.
https://twitter.com/LandsknechtPike/status/1491888211240665090
The tercio tactics were still brilliant defensively but lacked mobility and cooperation with the cavalry offensively. This was even more hindered by the fact that Spanish cavalry was of inferior quality and the lack of central command to coordinate units like at Rocroi.
For example at Rocroi the Spanish commander Melo gave Issembourg's Alsatian cavalry independent role where it was first used in a useless task of guarding the fortress of Rocroi then engaging in a successful yet underutilized counterattack on the French without proper back up.
At the same time the modernized Protestant and French armies were able to coordinate with cavalry better, use musketeers as skirmishers and fall back behind cavalry when in danger, keeping the line flexible and mobile etc.
At Rocroi the French cavalry cooperated with infantry perfectly. Whenever a cavalry unit would broke it would withdraw behind infantry and regroup by its side and return to the battle. Meanwhile the Spanish cavalry was routed with no real support from infantry.
And without cavalry support it was too risky to send Spanish musketeers to engage the enemy and separate them from pikemen this way. This basically made the Spanish infantry an immobile fortress on the battlefield, slowly picked apart by cannons and attacks from all sides.
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