From a former foster child.......

I understand what you did and yes it seems like they are in a better position. But do NOT abandon them, do not stop seeing them, do not stop going to their events.

Going to foster care no matter how terrible it is at home is a trauma to the child. You can make it less so by staying in their lives.

I am not judging you, just trying to offer a perspective from a person who grew up in the system. In my case, my biological parents were abusive and lost all rights. In your case, you have the opportunity to still be in their lives.....DO NOT give that up....that would hurt them more then you ever know.

Please your kids need you...you are their Mom and will always be.