You have to be completely free of the medications for 1 year and be academically qualified. No doubt a doctor will have to certify you've been drug free. The academic part is most likely proven through the ASVAB.
If you have to "take medication everyday" for the rest of your life .. well, it's time to seek another career.
Best of luck.
Caution: I have two brain cells. Sometimes they both work at the same time.