How to teach 17 yo daughter financial responsibility since she works, goes to school.?

I am a single, disabled mom of 3 children ages 17 daughter, 15 son, 3 daughter. I don't work but I draw ssi and so does my son. Me and my sons money pays all the bills and we basically live paycheck to paycheck and I was wondering how to figure out a fair/decent price to charge my children mainly oldest for room/board/ect. I need the help because their father never pays child support on time or even correctly. If he was paying I could let this slide moreso but I realize I need to prepare my children for reality. I am not looking to make money off them but I am having it hard when she works in fastfood from 11 am to 4 pm, gets an hour off, goes back to work at 5 pm thru 9 pm or later and sometimes up till 4:30 am which is close. And I either have to stay up waiting to go pick her up or risk not getting to her on time. Sometimes she gets free rides home. The hours do change and during school year she wasn't working this much/like this. The hours were more sensible. With having had JRA/Arthritis from birth its gotten a heck of a lot worst and I am trying to find ways to cope/do it all/get it done. I have to have a nap daily, take meds, run errands, and pretty much do it all alone. I don't really go out or do anything for myself only if I have to go to drs do I go. If I do its with one or more of my kids in tow. My son sometimes goes with his dad on weekends/summer visits some which gives me a partial break. He has ADHD and getting him to take out trash/keep room clean is a war. He does odd jobs around area for maybe $25 a week (not alot), goes to school, hangs out with friends. Oldest daughter is too busy working, sleeping, eating, going to school, has very little free time herself, when she does she is going out having fun. I need more help with cleaning, cooking, laundry, trash, pets. I expect them to help out when asked but its gotten really rough on me. My pain is severe and chasing the youngest tires me out extremely. I don't know what else to do because both the fathers are deadbeat dads. Where I live is a crime ridden area and you can't depend on anyone or even trust them. Not to mention all the driving/running I have to do for errands, school, appointments for everyone. I want them to live in reality and not be lazy slackers which is epidemic today. I don't want to use/take advantage of them either though. I am even working on paying off debts owed to clean up my credit from a 14 yr marriage/divorce deal. I feel I am getting nowhere just surviving. Please help. God Bless.