A method, comprising: electrically coupling drive circuitry to a first plurality of piezoelectric actuators mechanically coupled to a rotor in a microelectromechanical, MEMS device while simultaneously electrically coupling to sense circuitry a second plurality of piezoelectric actuators mechanically coupled to the rotor , during a first half period; and electrically coupling the drive circuitry to the second plurality of piezoelectric actuators while simultaneously electrically coupling the first plurality of piezoelectric actuators to the sense circuitry , during a second half period; wherein the method further comprises: using the drive circuitry to generate drive pulses for the first plurality of piezoelectric actuators and using the sense circuitry to detect deflection of the rotor mechanically coupled to the first and second pluralities of piezoelectric actuators (12a-12d), during the first half period; and using the drive circuitry to generate drive pulses for the second plurality of piezoelectric actuators and using the sense circuitry to detect deflection of the rotor , during the second half period, wherein the method comprises further adjusting the drive pulses for the first plurality of piezoelectric actuators based upon the deflection of the rotor during the first half period, and adjusting the drive pulses for the second plurality of piezoelectric actuators based upon the deflection of the rotor during the second half period. electrically coupling drive circuitry to a first plurality of piezoelectric actuators mechanically coupled to a rotor in a microelectromechanical, MEMS device while simultaneously electrically coupling to sense circuitry a second plurality of piezoelectric actuators mechanically coupled to the rotor , during a first half period; and electrically coupling the drive circuitry to the second plurality of piezoelectric actuators while simultaneously electrically coupling the first plurality of piezoelectric actuators to the sense circuitry , during a second half period; wherein the method further comprises: using the drive circuitry to generate drive pulses for the first plurality of piezoelectric actuators and using the sense circuitry to detect deflection of the rotor mechanically coupled to the first and second pluralities of piezoelectric actuators (12a-12d), during the first half period; and using the drive circuitry to generate drive pulses for the second plurality of piezoelectric actuators and using the sense circuitry to detect deflection of the rotor , during the second half period, wherein the method comprises further adjusting the drive pulses for the first plurality of piezoelectric actuators based upon the deflection of the rotor during the first half period, and adjusting the drive pulses for the second plurality of piezoelectric actuators based upon the deflection of the rotor during the second half period. using the drive circuitry to generate drive pulses for the first plurality of piezoelectric actuators and using the sense circuitry to detect deflection of the rotor mechanically coupled to the first and second pluralities of piezoelectric actuators (12a-12d), during the first half period; and using the drive circuitry to generate drive pulses for the second plurality of piezoelectric actuators and using the sense circuitry to detect deflection of the rotor , during the second half period, wherein the method comprises further adjusting the drive pulses for the first plurality of piezoelectric actuators based upon the deflection of the rotor during the first half period, and adjusting the drive pulses for the second plurality of piezoelectric actuators based upon the deflection of the rotor during the second half period. <EOS>