Here's how I do it.
Suppose H+= 6*10^-3. This is greater than 1*10^-3 (which has a pH of 3) but less than 1*10^-2 (a pH of 2). also look for the number in between: 2.5, which has a pH of 3.16*10^-3 (always 3.16*10^ pH rounded up...so 6.5 would have 3.16*10^-7)
Your answer will be in between 2 of these values.
When given a pH and you need H+:
say pH= 6.6
This is between 6 (1*10^-6 H+) and 7 (1*10^-7 H+). But also check the middle one! (6.5= 3.16*10^-7 H+)
Your H+ will fall in between two of these.
And this also works for OH/pOH!!
Hope this helps!