15 min cycle prior to squat bad?

I decided to do 30 minutes on the spin cycle for a cardio day, 15 minutes into it I couldn't resist the urge to squat so I decided to go for it, did some light dynamic stretches and put 45's on, squatting 135lbs. My legs were so nimble, I could go really low with great form, it felt great. I've read that cardio prior to working out is not ideal, if I feel good and nimble, can I warm up this way?