I'm 18 years old and I have a 2 year old daughter, I'm no longer with her dad because he's doing drugs and I believe he's bipolar.

You can always file for full custody, most parents always do at the start. Now that does not mean the judge will give it to you, a lot depends if the father will fight you for a level of custody. You are going to have to prove his drug use and medical condition to the courts, even with that he will still get supervised visits if he asks for it.

Also you need to get a child support order.