Hi local Denver people. I used this service last year and it was really great (and free) although it's worth paying for. http://conservationcenter.org/slow-the-flow-2/outdoor-sprinkler-consultation/
Basically they test your soil, do catch cups to test your sprinkler output, help you adjust sprinklers, and finally give you a full report on their recommendation for optimal settings.
I highly recommend it if you are local and if not, see if your local water company does something similar.