Scott, I don't mean to insult by going too far toward the 'kindergarden' end of things, but you asked----
If you start with a time-thrust plot for a particular rocket motor, the 'convention' for graphing this data is to put thrust on the vertical axis and time on the horizontal axis.
The motor starts at zero thrust (the instant before ignition), increases to a point of maximum thrust (rarely do our hobby motors stay at that point for any significant duration), drop back down to an intermediate level of thrust for maybe half of the burn time, and finally drop off to zero thrust again as the delay charge is ignited. All very simple stuff, we've all seen the charts.
Impulse is the measure of the area under the thrust plot. This gets complicated if you want to use calculus to create the perfect mathematical description of these plotted curves, and integrate to calculate a mathematically perfect value for the area under the curve. Me, I am too lazy to go through all that, especially when our little blackpowder hobby motors are said to vary in performance by as much as + or - 20 percent. (Who cares about a 'perfect' calculation?)
You can come plenty close enough to measuring impulse by splitting up the burn time into small increments, drawing a line from the horizontal axis up to the plotted thrust data, and making note of the measured thrust at the beginning and end of each time increment (are you still with me?). Average those thrust values, multiply by the time increment, and add that area under the curve to your running total. When you get to the right-hand side of the thrust plot you will have a close estimate of the area under the curve. This is the actual impulse of the motor.
If the motor went instantly to a nominal level of thrust, stayed at that exact thrust level for a time, then stopped instantly and dropped back to zero thrust, your thrust plot would look like a rectangle. The vertical height (thrust, in pounds or Newtons) is multiplied by the horizontal length (time, in seconds) to get the area included under the thrust plot (impulse, in pound-seconds or Newton-seconds).
Note also that many of the blackpowder motors out there do not deliver the full impulse of their classification. That is, a "B" motor might deliver an actual impulse of way less than 5.0 Newton-seconds. It can produce anything between 2.5 and 5.0 and the vendor can properly label it a "B" even if it only produces 2.6 N-s. So you really have to get familiar with the actual power ratings (identified from instrumented test-stand firings) to understand and properly select your motors. The NAR website has a bunch of this info.
Does that answer your qstn?