Legal Question in Family Law in Texas

need help please

i am a non custodial parent. I go by and follow all the rules to an agreement set out by the courts, but have an issue with my ex wife and my 4 year old daughter. Being said she hasn't been following the rules, from what i have been told from her she has 2 jobs. but before even when she had no job her mom has my daughter the majority of the time. It is still like that. My big concern is that i really don't want her mother raising my child. I would rather raise her myself than see that happen. have nothing against the mom but just rather be raised by one of her parents. Is there anyway that i could make this happen? If so how would I go about making these much needed changes?

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