Watch the Patterns online guitar lesson by Stu Hamm from Stu Hamm U: Fretboard Fitness
Man, this course has more scales than a dragon! Here is one of my favorite warm-up techniques. It is a pattern of 3 note phrases going up the modes diatonically. Remember to start slowly until you have a firm grasp on the patterns, and always keep your fingers close to the fretboard. Good luck!