Should I allow my daughter to see her grandfather?

I am very conflicted. I have a horrible past with my father. When I was a kid, my mom had to send me to live with him for a little bit because she was struggling financially ( was 7). During my time with him and his wife, I was abused and psychologically tormented. One time, I was falling asleep in the backseat of my dad's car and while my step mom was moving a box from the backseat, she purposely hit me with it, her and my dad argued. Another example of my experience is when I was being disciplined and I was crying for my mom, my dad lifted me up by the scruff of my shirt up against a wall and started yelling at me and telling me to stop crying for her. I once heard him talking to my mom and he said "You need to make her love me." Over the years I have kept contact with my and when I was 12 he said that he had been so harsh because I lied a lot and reminded him of my mother. He would mostly blame my mother (she was supposed to abort me but, she lied and told my dad she did and had me instead). Also, he denies that they ever dated but, according to my mother they had. I even ran away three times, at the age of 8; the last time I literally jumped off of a balcony (it was like 10 feet). The police was involved the last time and they took pictures of the bruises left from a spanking. They [the police] threatened him but, unfortunately because of my mothers situation, I had to stay. After that, things were not as bad and I got to go back to my mom. This is a very condensed version of my accounts.

Flash forward: Over the years my father and I tried to talk about what happened and he even apologized for the way I was treated and the abuse however, there is still a lack of responsibility being taken as he likes to blame my mother a lot for things. I've been married since I was 18, I am 26 now. I did not tell my father we got married, but he found out from a family member. He has never tried to get to know my husband. When I got pregnant, I decided that I would not be selfish and keep my daughter from him. I updated him during my entire pregnancy and invited him, along with other family members from that side to the baby shower. I told him that I wanted her to know him, even if I never would be close with him. But... things went sour when he (seemingly out of the blue) advised me not to give my daughter candy. His exact words were: "You should consider not giving her candy". I was offended because it was unsolicited advice that came out of nowhere. Another example is when his cousin died and instead of telling me about her as a person (or how I'm related to her even) he proceeded to tell me that her and her father had a terrible relationship also and that he would tell me about it sometime. I felt offended once again, especially because I felt that it was disrespectful to the cousin who had died and that it was unfair that that would be the first thing he tells me about her given she is now deceased. Also, when they came to see my daughter after she was born, there was a major issue. My daughter was born with subluxation of the knees (look it up) so her legs did not look normal, obviously; my half-sister (13 at the time) proceeded to call her friend, and laugh about my baby's legs and describe to the friend how they looked. She also tried to take a picture of my baby's legs but I saw my stepmom stop her. No one ever said anything to me. No one ever apologized. I know she's just a kid, but I do believe she should have been reprimanded. I don't hold her personally responsible at this point, it's up to her parents to have her make it right. Now, I am pondering the idea of severing ties completely. There is way more to the overall story but, I am restraining myself so I don't end up writing a novel. I don't want my little girl to blame me later on in life but, these people make me feel uncomfortable. My dad pretty much negates most things I say. I even opened up to him about my depression and he basically said I need to be more positive?? Mind you, I was in a partial hospitalization program when I was pregnant for depression and suicidal ideations. I just don't know. Sorry if this is all over the place. I need advice because I honestly don't know what to do and the people around me have very little to say about the matter. I don't want to be selfish and I don't my baby to be angry with me but, I don't think they deserve her because they don't respect me or know me so how dare they think they are entitled to see her? I am not trying to play the victim here but, I went through a lot with my dad so I know that it could be me that is the problem.