There is a good shuttle service which takes you to the centre of the town.
Thanks for your response - it is really helpful.
I can answer for Maderia. We were there in October 08. The ship Artemis had a shuttle service to the main part of town. Lots of good shopping and resturants. If you want to do sightseeing then take the cable car to the Monte Palace gardens, be prepared for a walk, the gardens are great. By your ticket for cable car and gardens before your get on the cable car its cheaper. The gardens are set on a very steep slope going down is good, going back up is steep and we stopped for quite a few rests. allow 2 - 3 hours for the gardens. The cable car ride gives you fantastic views over the city and port, don't try and walk back to the port from the gardens it will take you all night! Have a great day.
Thank you for your response - it is really helpful.