If you’ve got some experience with C/C++ it shouldn’t be too hard to get started.
The MegaCommand core (MIDICtrl20) that contains the MCL firmware and Elektron libraries compiles within the Arduino IDE. You could use the ArduinoIDE to write programs directly or learn to modify+add to the core directly.
Either way, you need to become familiar with the MIDICtrl20 code base, as that contains all the library functionality for GUI, MIDI, Elektron devices, etc.