I think there's enough to do at Rocha Brava to keep you busy, if you want a relaxing, poolside holiday - the restaurant O Farol is fab - plus there is a snack bar and about 4 other restaurants within walking distance (Rafaiol, Julio's, Jardim do Farol - just past the entrance to RB, and Rochamar). Also, if you keep going through Rocha Brava from the main entrance, past O Farol on the left, the road eventually bears to the left, then right, and you'll come to another couple of shops/bars/restaurants - you can also walk to Centeanes beach, although it's uphill back!
I think RB has a minibus shuttle down to the village a few times a day, ask at reception when you check in, but generally taxis are available and not expensive, there can be quite a queue at the taxi rank by the beach around 10-11 pm but as most journeys are fairly short and local, it moves quite quickly
Hope you have a great time - our first ever holiday in Carvoeiro in 1988 was to Rocha Brava (it was newly built then!), and we went back lots of times before we bought our own place, so it has lots of happy memories for us