Amapayipi amaningi anengcindezi ephezulu yemigqa eminingi asetshenziselwa ukuxhuma amayunithi amabili wamadivayisi asebenza ngogesi, avame kakhulu amayunithi esihlukanisi: amayunithi okusebenza nokulawula asetshenziselwa ukulawula izigaba eziseduze zamakhava emishini. Bavumela ukuthumela ama-impulses okulawula ukude phakathi kwamayunithi okulawula nawokwenza.