Struggling to Learn How to Drive with ADD

So, my parents have given up on teaching me how to drive. it's a real struggle for me to focus because of my ADD. but they also don't want to be responsible for driveing me anywhere. So they signed me up for a class that teaches people how to ride scooters and mordecycals in hopes of getting me a scooter. so I go in to the writen portion of the lesson and afterward the teacher asks me how I was doing and if I'll be okay riding today for the physical portion of the class. I figured that he thought I was nervous because of my uncontrollable jitters(I have ADD and atusime, but I'm also on Dexamfetamine and drank caffeine). I told him that I was just settling into new medicine and had drank coffee and that I'll be fine. All I can think is. Oh great he knows I'm retarded. Then we get out to the physical portion and the borrowed gloves he gives me is too big and I have to stand on tip toe to reach the ground on the scooter. becuse on top of everything else I had to be, I had to be born a midget. So sometime in the middle of the lesson he pulls me aside and tells me that there worried for my safety and I have to take the physical portion somewhere or sometime else. He also tells me "Well you can come and take the test if I feel like I can pass...." This class was not free and I'm pissed. Not only that, but now I can't get anywhere on my own that's not within pedal bike distance....