Well, he didn't show up for court and I pretty much got what I asked for.

We keep joint legal, I have primary physical. His visitation, supervised by his mom or other family member, starting this weekend: Saturday to Sunday overnight, home to me by 8pm Sunday. The following weekend, only Sunday from 2pm to 8pm. Rotating every other weekend, supervised. That is pretty much all that is in the order. So this is how it will be until one of us goes back to court to change it. I am hoping between now and then we can come to a new agreement and go back a few months from now, after he's shown he went to some drug counseling and passes some drug tests or something.