Custody battle

So my baby daddy and I have been arguing about paperwork. First I had them drawn up and I was sole custody due to some of his choices. He didn’t like that so i decided to keep it in best interest for our daughter to try and get along and come to terms with 50/50 the way that he wanted it and we could both parent her. Well got the papers drawn up for 50/50 and everything was standardized and of course he found something wrong with it. I just don’t even know how much more I can compromise with someone it’s his way or no way. I feel like the judge is going to see that I tried to hard to compromise and he wouldn’t with me. It’s just such a stressful situation and now we have to go to court because he feels like he can get it the way he wants. I’m not able to hand our daughter over on weekends because my lawyer said he could take off with her and I won’t get her back until court. So I’m stuck in the middle and he keeps putting it all off and disagreeing with everything. Another thing he disagrees but won’t hire a lawyer at all. Just says he’s calling them but other than that nothing. I’m getting so frustrated bc all I want is a set schedule for our daughter and drop her off on his days and call it good I’m done dealing with him. Can’t agree but won’t hire someone to deal with it? None of it makes sense. Anyone else been through similar it’s just very stressful and hard. I’m trying to hard to do everything for our daughter to see her dad(but also doing it all right). The only real next step now would be full custody but he already said he knows I’m a good mom (which I am) so it’s like what is he trying to do?