Need advice on child visitation rights, I live in Springfield, Machusetts?

Im a dedicated father who recently got into some trouble because of my daughter's mother. We were together for 4 yrs and broke up last year and ever since then she's been giving me a hard time about seeing my daughter. I have been close with my daughter ever since the day she was born, paid for and attended ever single birthday, buy her whatever she needs and more, and I even took over my ex's car payment when she couldn't afford to pay for the car. but when she got her car taken by the police because of some other guy she was expecting me to take her to work.I refused because it wasn't my responsibly and she should have talked to her boyfriend who got the car taken in the first place. So she gets made at me comes to my mothers house and tries to kill us both, bit me and my mom on our arms after we tried to stop her from grabbing a butcher knife in my moms house to kill me because she wanted her car back that I was paying the note on because I refused to give into her demands because she was made at the other guy but took her anger out on me and my sick mother.Then when the cops came she lied and said I hit her and the cops arrested me instead of her and I never touched her.When my mom went to talk to the police abut what she did in her house they told her to shut up and they arrested me for no reason. And this out of control girl kicked in my moms door and broke her door lock. I haven't seen my daughter since 2months and I miss her alot. And to make matters worse I have to go to court and fight for my innocence and she hasn't showed up for any of the hearings because she says she feels guilty about what she did and doesn't wanna testify to her false complaint. I use to pick up my daughter ever other weekend and I miss her. Now I have to go to trial for nothing and my daughters crying everyday for me. Need advice.