Can a judge order me to take my son to his races on my weekends?

My son's father is threatening to take me back to court. If I don't take our son to our son's car races on my weekends. There's confrontation almost everything we are all together. In front of children. Also, my son's father sends his girlfriend to pick up and drop off our son at school. She also is the one taking care of our son by getting him ready for school and bathing, feeding, and transportation. I'm glad my son is being taken care of when he's over at his father's house, but it doesn't feel right that I'm sharing my time with my son with someone who isn't even a family member. They hardly have the kids in booster seats in the car and also smoke cigarettes with the kids in the back seat. What can I do? Can he really get more time with all of this?