It is time to turn your sprinklers on. You should be watering 15 - 20 minutes per zone every day if you have the rotor heads. The pop up heads can go for 7 - 9 minutes per zone. If you do not have underground sprinklers the best advice I can give is to put out a saucer in the lawn and time how long it takes to gather 1/10 of an inch of water. The lawn should receive at least 1/10" of water every day.
Here are some signs you may have a sprinkler problem.
Loss of pressure.
If a certain zone or head isn't watering with as much pressure as it should, this typically indicates a malfunction with your system that needs some attention.
Uneven watering.
Keep an eye out for pools of water in areas of your lawn, or worse, a drenched sidewalk, driveway, or street. The same is true of dry sections in your lawn after watering. These are signs that your lawn is not being consistently watered, and more than likely you have some sprinkler heads that need some adjusting.
Irregular water flow.
If one of your heads is sputtering or dribbling in a way that is anything less than a steady stream, you may have a cracked head or clogged valve you need to repair.
Your lawn has changed.
If you've had any changes in your lawn, whether it be new a new landscape, flower bed, or hardscape, chances are you need to tweak your system to best water your lawn.
Your water bill is high!
If your water bill seems higher than normal for this time of year, and you've not increased water consumption elsewhere, you could have a leak. Best to fix it during later winter before your water consumption increases this spring and summer.
All the above are issues are easy to spot if you pay attention for a week or so and note anything out of the ordinary. If you do have issues, most of these are relatively easy to fix with supplies from your local hardware store.