Oh, my. Been there, done that! The answer to the specific question is that both my kids get their meds WITH breakfast. Basically, they start eating, and about half way through, if they haven't taken the meds, the drill seargent mom makes them take them (and the vitamins too, but DS usually gobbles that down cause he likes them).
Both my kids are on strattera now, which is a longer lasting med than ritalin derivatives. But it also has to stay at a certain level, so no more skipping meds on the weekends. I'm not sure if it's the difference in the meds, or the kids just getting older (they're 10 1/2 and nearly 12 now), but they are doing better about getting ready in the mornings. The younger one has decided he doesn't like taking the meds though, so we really have to watch to be sure he takes it (found it on the floor after getting a really, really, really bad report from his teacher and day care on Monday, so hopefully the cause/effect thing finally sank in!).
DD has actually gotten a lot better about the mornings. She really doesn't want to go to daycare now (the bus would come by the house about 25 minutes after we leave for work), so here's what our "plan" is. We told her if for one month straight she can wake up using her alarm (no mom or dad going up to get her out of bed), take her shower (including hair, face and teeth washing), get something to eat, and be ready without reminders, we'll let her try the morning bus by herself. If she misses a day, the clock re-starts (in other words, she can't do it for a week, miss a day, do it for 3 more weeks, and then get to stay home). We also said that once we let her do this, if she misses the bus, that's it for the school year. So far, the incentive is working pretty well. She did great for a week, messed up one day, but is starting again, and has followed through for another week.
BTW, state law here would allow a child to be home alone for up to an hour at age 10 (not in my house, but that's the law), and during daylight hours for unlimited time, at age 12. I really didn't expect her to be able to do this, but I was working her into the plan for next school year. If she manages it this school year, I'll be jumping for joy that I found some incentive that she'll actually work for!