Court orders being broken by father towards visitation?

My dad abused my mom when i was little he choked her and spit at her. He threw coffee at her and he threw a ton of other stuff at her. My dad was in the mental hospital for bipolar and he later claims he doesnt have it. He tells the court thats why when he does stuff wrong. While he was in the hospital we moved and never told him. He eventually found out and broke the restraining order. But hes done this several times before. My mom has had a restraining order for awhile. He was eventually granted visitation that was supervised he just couldnt pick us up or drop us off at first visitation was for an hour a day at a family center. He pushed us to ask for more and we did because nobody told us what was really going on only him. We kept doing so and were grante more and more until it was every other weekend and thursdays. He yelled at me about not trying and not calling him enough. I called him everyday. He yelled at me the whole time i was there and i couldnt even read. I could only sit and cuddle with him on a couch. He made remarks about me being on my period all the time. I eventually fought hard against visitation with the promise of not being able to be yelled at or talked about it from my dad. I was granted no weekends. He was told not to say a word About it to me and like always broke the order. When they went back to court to make it permanent he used me as a bargain chip for my brother. He was then allowed to stay with him and have visitation with my mom over summer. He will never stand up to my dad for what he wants. Now he got him and the order says he isnt even allowed to say the word visitation to me but hes breaking it. He told me we ARE going camping this weekend. I dont want to i. Cant do it anymore he wears me down so much emotionally and my moms afraid he will turn physically abusive towards me like he did her. Every time i have to go there he only tells me to ask for more or i wont get anything for my birthday. He is trying to force me back in visit