Court and Custody questions please help!!!

Trying to make this short as possible...

dad and I have had joint custody with bio mom for 7 years. Bio mom has done a lot trauma to children in the past and currently. Mom has physically, emotionally abused a neglected the children. She has had SEVERAL confirmed cases from cps. As less serve as no supervision to serve as broken bones. All children have been in act counsling for 7 years. 3years ago dad and I went to try and get rights terminated or atleast supervised visits. We were granted supervised visits. Mom was court ordered to call 3 times a week and participate in counsling and participate in supervised visits. Mom has not done any of the court orders. Mom hasn't had ANY communication with the children or their father or me for 2 years to date.

One of the children who was abused the most has anxiety and ptsd from the trauma. His father and I have worked hard with the school, dr and counsler. He struggled so bad in school I would have to go there almost every day due to his anxiety of not feeling safe.

This past school year was amazing!!! He succeeded in everything. He had no panic attacks and he finished the school year with the highest average in the grade.

Welp bomb shell. Last day of school...awards ceremony. Mom shows up at the school and sees only one of the kids...the one who was most traumatized by her. Also we had no communication by her she was going and all the numbers we have for her were disconnected

I guess my question is how do u think taking her to court for full custody and no visitation sounds? The counsler is willing to write a summary and recommendation for us. Will they terminate her rights?? Also she only pays $50 in child supoort a month for 3 kids. Not each...total