I am not a pancake expert, but mine usually come out okay on medium-low heat in a skillet if I flip as soon as I see little bubbles on the top, stare at the pancake's edges until it look like the new underside might be firming up, and flip back and forth until both sides are happy. Also, the first pancake is always a bit off. I have no idea how to avoid this.

...I make my pancakes one at a time, slowly.