You took the right step in seeking the advice of a lawyer. CPS is tricky and it depends on where the child was placed when they took it away from you. If they placed the child in a home with a parent or guardian in the family then of course the court system will more than likely rule in favor of CPS until you can prove in family court that you are back on your medications and that you are stable. If the child was placed in a foster home or just in the system then more than likely they will give you visitation at the most, probably supervised, until you get back on your medication and prove to the court that you are stable again.
It's hard when you have a mental disability and are caring for a child. It was the right thing to do to call and ask for help but instead of calling your worker next time just call the ambulance service directly and ask for help. You could also call a family member who you trust and understands your situation to ask for help. The caseworker, in my opinion, was out of place and should have never called the police or gotten anyone else involved until AFTER you were evaluated by the hospital.
Good luck sweetheart! Keep your head up and keep fighting for your blood to be back in your arms where it belongs!
Im not really sure but try this web site: