Well after a very long break I finally ordered a custom PCB from OSHPark. I am very pleased with the result, i needed to manually cut the board because had my cutouts on the wrong layer. I am most impressed with the fact that I soldered on a MOSFET with .5mm pad the first try! After putting all the components on the board and rewiring the breadboard it worked. Hell yes. My code was all wonky and its completely unusable but the hardware is functioning.
On to some code clean up.