Anytime a rotor is actually warped, toss it. It's just going to warp again. See DEpointfive0's post above.
If it's just a slick/rough spot on the face of the rotor, go ahead and turn them or use DarkJak's method. Personally, I would not turn a rotor more than once, but I tend to be hypercautious with brakes and suspension parts.
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