Checklists. We have checklists in the bathroom and by the exit door. DD has a checklist posted in her bedroom.
Prepare most of what he needs the day before when the meds are still in effect - lay out clothes (including opening zippers, unbuttoned buttons, and untied shoes) - decide what is for lunch (pack it, if possible) - and even agree on what is for breakfast.
We set a timer (my iphone) that goes off periodically during the morning. By 5am, X needs to be done. By 5:15am, Y needs to be done. By 5:20am, we really need to stop Y or we'll be late. The whole house operate on that darn alarm system. I'll even turn off one alarm unconsciously then the next alarm comes on and I'll be all upset, "How did it get to be that time!?!?! What happened to the alarm before it." Hubby or DD will reply, "I heard it." Okay, good because obviously some mornings I'm still asleep.