diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java
index 529a7cf..1a7c65b 100644
--- a/src/main/java/frc/robot/Autos.java
+++ b/src/main/java/frc/robot/Autos.java
@@ -188,6 +188,17 @@ public Autos(
             LoggedNetworkTablesBuilder.createLoggedAutoResettingButton("Autos/Reset Odometry")
                 .onTrue(new InstantCommand(this::resetAutoOdometry).ignoringDisable(true)));
 
+    autoChooser.onChange(
+        (Auto auto) -> {
+          try {
+            // Construct this auto to warm up the JSON parser and get all the paths into
+            // PathPlanner's path cache.
+            PathPlannerAuto pp_auto = new PathPlannerAuto(auto.autoName);
+            DriverStation.reportWarning("Preloaded auto " + pp_auto.getName(), false);
+          } catch (Exception e) {
+            DriverStation.reportError("Error preloading auto " + auto.autoName, false);
+          }
+        });
     bindNamedCommands();
     bindEventMarkers();
   }
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index bceb541..1957493 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -1,5 +1,6 @@
 package frc.robot;
 
+import com.pathplanner.lib.commands.FollowPathCommand;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.controls.Controls;
 import frc.robot.generated.TunerConstants;
@@ -97,6 +98,7 @@ public RobotContainer() {
         leds = new Leds(new LedsReal());
         deploy = new Deploy(new DeployIO() {});
         hood = new Hood(new HoodIOReal());
+
         break;
 
       case SIM:
@@ -156,6 +158,8 @@ public RobotContainer() {
     controls =
         new Controls(drive, intake, shooter, indexer, booster, hood, fuelDetection, leds, deploy);
     autos = new Autos(drive, indexer, intake, shooter, booster, hood, leds, deploy);
+    // Warm up the PathPlaner system.
+    FollowPathCommand.warmupCommand();
   }
 
   public Command getAutonomousCommand() {