A Dad After 7 Years

After 7 years I finally got served papers for child support and got to request a DNA test. He is mine 99.9 %wow! Several court dates and thousands of dollars later, I can't tell the difference except for the 335.00 per month and medical bills. I was ordered to carry him on my insurance that I do, but she won't use it and I am expected to pay 1/2 of everything on her insurance. I don't get to see him for more than a couple of hours at a time, because she took him to a psyche doctor who wrote a statement saying it wasn't best at this time since he didn't know me. I am not a bad guy; I have a wife and a 5 year old, work everyday and have never been in trouble. How bad can it be? He says he can't spend the night or his weekend because he is scared he will miss time with his mom, he is 12 years old, when will he be ready. Help!!!!