By switching to a properly set-up flex daily schedule, you will accomplish everything you are looking for. I was trying to find the thread where @franz chronicled the set-up of his personal Rachio Flex Daily schedule and he had less than 4 waterings in the month of August and his grass had never looked better.
Flex Daily takes a lot more time and effort to set up correctly than other schedules, but the benefits are huge!
@azdavidr put together an AMAZING rundown of how to calculate drip emitters here, and a whole lot more info.
A catch cup test is the best for calculating your precipitation rates for your sprinklers, thus calculating run times to promote a healthy lawn, without overwatering.