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Does your mother want him out of the house too? If so and your mother and you own the house, and he is not married to her, your mother could go to a civil attorney and begin Eviction proceedings against him.
Did you both try getting the judge and/or the police to enforce the order that he leave? That would be your first alternative.
I would suggest that your mother call the sheriff's office and see if she can get the court order enforced. He has had a reasonable amount of time to leave already. The reason I say she should do it and not you is that you are now a defendant on a case related to your stepfather. You shouldn't be talking to the police because it could be used against you on that case. But your mother can do it.
If the police won't enforce it, you may have to get back before that judge and get the judge to enforce the order. Or, as I indicated, your ultimate remedy would be to get him evicted in a separate eviction proceeding, since he's not an owner nor is he married to your mother.