Hope the new school year brings more happy mornings for you FJ! I remember my mum used to threaten to send us to school in our pj's if we weren't dressed in time, we knew she would definitely follow through, so we always managed to get our act together to avoid that embarrassment!
I don't know how old your kids are, but would making a morning roster help? I.e. get up at *this time* then you have until *this time* to get dressed, breakfast from *this time* until *this time*, and then if you are all finished and ready to go with time to spare they can play with some toys or something "fun" until it's time to leave? Something to motivate them to hurry up and get dressed and be ready.