It is not clear whether you are currently in court or not or what kinds of actions/orders are outstanding, so it is really not possible to answer this question. Some of the things you are saying have occurred do not compute legally.
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Is the Department of Revenue the party that brought suit to establish paternity and a child support order? If so and there has been no other actions, you will need to initiate your own action to establish a time-sharing plan and work out parental responsibilities. You should consult with a local family law attorney. If you cannot afford to hire an attorney, most courts have a pro se family law coordinator program to assist citizens in moving forward through the court system. These programs cannot offer legal advise but they can provide legal forms and help you schedule your hearings.