time for change

So this court case is still going on about my boys. It will be closed out in about a month and things will go back to normal, with my ex husband and I having joint custody and trading kids back and forth with me doing all the work once again. He still does not take responsibility for his actions and blames Dustin for everything. He lets Myles run around all over with no supervision and little regard for what he is doing. He does not make dinner when they are there, he barely cleans their clothes. He just gets to go back to life as usual and I am doing all the work. I am bitter. I am resentful. I am angry. I am feeling sorry for myself I guess. Dustin has decided that he in fact does not want to go back to joint custody with his father. He wants to stay with me, which is of course what I have wanted all along, my kids with me. But then I think what if he is just doing this until the next time he gets mad at me, then he wants to go back to Dad. I am more than ready for the court to get out of our life but the chances of something happening again with their Dad is certain to happen. What should I do??