ok..so for right now things look kind of bleak....but...
you have a job. so there is cash coming in.
where do the kids live? are they in the car with you? can you try to get into a women's shelter? it may not be perfect but it is better then a car.

so you have parenting classes and therapy. honestly it could have been much worse. take those classes seriously. and then run with them. be the best you can be. not all great parents start out with great homes and tons of cash...but with love and what ever stability they can offer. your kids need to know you can keep them safe and loved.

it's time to get it together...if you are bipolar get the meds if offered and take them.

think about the decisions you are making...go slow. you don't need to be the best all the time you just need to make good solid careful decsions. think about the kids if they are with you. use you cash wisely.

you didn't say what the court case was for, but don't tempt fate. judges don't usually like that. they will offer to help but if you can't abide by their offer , well you might not get a second chance. your kids depend on this chance.

bipolar is not a death sentence. meds and the therapy and parenting classes could help you a ton. take the chance to improve and make the best. i wish you good luck.