In one of Dave's most recent videos he shows a quick 10 minute workout that can be done if you don't have a lot of time to train on a particular day. I typed it out for myself so that it would be easier to follow along and figured I'd paste it here as well.

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1.) Pushups

-Adjust for strength level (elevate feet, handstand pushup, etc.)

-Try to not exceed 10.

2.) Pull Ups

-Adjust for strength level (negatives, one-arm, one-arm w/ bungy assist, etc.)

-Again try not to exceed ~10, shooting for max effort.

Deadhangs

3.) Four finger open hand grip

4.) Half crimp

5.) 3 finger open hand

-Perform on most difficult edge you can

6.) Endurance Pull Ups

-try to get to 20, strict form, use suitable edge