In the present study, we investigated the generation phase of laboratory-scale water waves induced by the impulsive motion of a rigid piston, whose maximum velocity $U$ and total stroke $L$ are independently varied, as well as the initial liquid depth $h$. By doing so, the influence of two dimensionless numbers is studied: the Froude number $\mathrm{Fr}_p=U/(gh)^{1/2}$, with $g$ the gravitational acceleration, and the relative stroke $\Lambda_p =L/h$ of the piston. During the constant acceleration phase of the vertical wall, a transient water bump forms and remains localised in the vicinity of the piston, for all investigated parameters. Experiments with a small relative acceleration $\gamma/g$, where $\gamma=U^2/L$, are well captured by a first-order potential flow theory established by \citet{1990_joo}, which provides a fair estimate of the overall free surface elevation and the maximum wave amplitude reached at the contact with the piston. For large Froude numbers, an unsteady hydraulic jump theory is proposed, which accurately predicts the time evolution of the wave amplitude at the contact with the piston throughout the generation phase. At the end of the formation process, the dimensionless volume of the bump evolves linearly with $\Lambda_p$ and the wave aspect ratio is found to be governed by the relative acceleration $\gamma/g$. As the piston begins its constant deceleration, the water bump evolves into a propagating wave and several regimes are then reported and mapped in a phase diagram in the ($\mathrm{Fr}_p$, $\Lambda_p$) plane. While the transition from waves to water jets is observed if the typical acceleration of the piston is close enough to the gravitational acceleration $g$, the wave regimes are found to be mainly selected by the relative piston stroke $\Lambda_p$ while the Froude number determines whether the generated wave breaks or not.