Single Mom

I've been separated from my kids father for 12 years. We never had a good mutual relationship (even though I have tried) he blames "he is bipolar". One minute he is ok, the next he talks a world of shit. We have 3 kids and over the years have set up some visitation in court so there is no misunderstanding. I have over the years pushed that aside and let him pick the kids up whenever he wanted. The last month he went over board with his bipolar episode and I had enough! He decided to bring the cops to my house because he wanted the kids a weekend that wasnt his and wants everything the paper states! Ok no problem. Now he is trying to send my daughter to CCD classes on a day he is supposed to have her home by 6. They are coming in at 930pm. I'm not having it but my daughter wants to go. I want to let her but first it's a school night, second he wanted everything by paper...and idk what to do. Let her go or call the cops because it not what's "on paper"