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I forgot how to change this setting...

There are a few options for this:
1) Get Tasker and make a profile to make the screen timeout infinite.
2) Go to Settings>Display>Screen Timeout; it won't have an infinite option, but it is better than nothing
3) Go to Settings>Applications>Development> Check "Stay awake." This will keep the phone's screen from turning off while charging; something that you should be doing while using a power hungry application such as Google Maps.
4) You could also try what ttran97 suggested and get an app from the market.
 
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