Look at the middle root letter in the imperfect verb.
● If it has ḍammah, begin the imperative with اُ: يَنْصُرُ ← اُنْصُرْ, يَكْرُمُ ← اُكْرُمْ.
● Otherwise, begin with اِ: يَفْتَحُ ← اِفْتَحْ, يَغْفِرُ ← اِغْفِرْ.
Hamzat al-wasl is pronounced when speech begins with it and is not pronounced when joined to a preceding word. It helps pronunciation and is not an extra root letter.