Sounds to me like you're doing it the right way. Start slow, and add complexity. Basically.. I started out doing rollers with just elevator and aileron. Then later on.. once I was comfortable with this, I started adding in rudder inputs. In the end, you'll find you use more rudder than anything else.

Say what you want about torque rolls, and so forth, a well flown rolling circle to me displays the best command of the airplane.