I'd have to agree that you are placing an undervalue on your services. What wasn't a big deal to you, could have been huge to him. I do some consulting work on the side, and if i was in a pinch and someone was able to pull me out of it like that, i'd definitely offer up more than a couple bucks.
Depending on how well you know them, i like the idea of grabbing a pizza or bringing over a case or something, assuming there is a next time you give him a hand.
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