A method for drilling a subterranean wellbore includes rotating a bottom hole assembly (BHA) in the wellbore to drill. The BHA includes a rotary steerable tool or a steerable drill bit having at least one external pad configured to extend radially outward into contact with a wall of the wellbore and thereby steer the drilling. A rotation rate of the BHA is measured and a drilling parameter waveform is received. The rotation rate and the waveform are processed to select discrete times for extending the at least one external pad while drilling.