Lately with myself and my students, I've been using Tommy Igoe's Great Hands for a Lifetime warmup routine. It's challenging and fun, and it's nice to know I'm reinforcing my rudimental playing while doing the warmup. When using the audio tracks, it takes a while to make it through the entire warmup, but when I'm playing gigs I often don't have time to do the entire warmup. For those instances I tend to do my own sort of hybrid warmup mixing up various sections of "Stick Control" and assorted paradiddle combinations.
The other day I came across this guys's website and and found a video of him warming up before a show, and thought this could be super useful for when I don't have time to do the full Lifetime routine.
This video inspired me to try the paradiddle part of the warmup with some of my students. However I soon realized that not all of my students are ready for the difficulty of playing paradiddles with accents. So, I decided to take the concept and apply it to singles and doubles and then eventually paradiddles. Here is what I came up with:
There are also some great warmup exercises at PDX Drummer.
I hope you find these resources useful! Happy practicing!