Some warranties cover brake pads and rotors, while others do not. Some warranties may cover brake pads only if they wear out prematurely due to a manufacturing defect. Some warranties may cover brake rotors only if they are warped or damaged due to a manufacturing defect.
It's important to read the warranty document carefully to understand exactly what is and is not covered. If you have any questions about whether or not your brakes are covered, you should contact the dealership or warranty provider.