How to move a motor?

How would I go operating a motor? Do I use actuator.controls[i] as the command? or is there another motor specific function or command?
I know I would need to first send a low pwm value to the motors, and after that I can throttle it up, so that the motors don't accidently start at full power.
Thank you once again.
Best Regards,
Israel Casillas

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