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Until the court order is changed, yes, she can come get the boys and take them at any time she's allowed by the current order to have them. What your husband should do is go back to court and get full custody. The mother has lost interest, she's been to jail, she can't take care of herself let alone the boys. Besides, your husband essentially has full custody now anyway. I doubt you'd have much trouble convincing a judge to make the switch under the circumstances.
CPS probably doesn't want to be seen as giving legal advice. That's likely why they were a bit coy when answering your questions.
It's always better to use an attorney if you can. Try your local Legal Aid/Legal Services if you can't afford an attorney. The court may have DIY change of custody forms for your use.
The child support, like visitation, will remain in place per the order until the order is changed. If your husband files to change custody, he can also file to change support. The judge can make the change in child support retroactive back to the day he filed for the change in custody, but not before. Yet another reason to file ASAP!
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