diff --git a/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java
index 7a109ced..785f2ba7 100644
--- a/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java
@@ -13,6 +13,7 @@
 
 import com.pathplanner.lib.auto.AutoBuilder;
 import com.pathplanner.lib.commands.PathPlannerAuto;
+import com.pathplanner.lib.commands.PathfindingCommand;
 import com.pathplanner.lib.path.PathConstraints;
 import com.pathplanner.lib.path.PathPlannerPath;
 import com.pathplanner.lib.util.HolonomicPathFollowerConfig;
@@ -182,6 +183,10 @@ public void setupPathPlanner()
         },
         this // Reference to this subsystem to set requirements
                                   );
+    
+    //Preload PathPlanner Path finding 
+    // IF USING CUSTOM PATHFINDER ADD BEFORE THIS LINE
+    PathfindingCommand.warmupCommand().schedule();
   }
 
   /**