You can drive to Patriots Point. The ferry from there the Ft. Sumter is about $15 if I remember right.
$19 /adult
Patriot's Point doesn't require a ferry, you can just park there. As for Fort Sumter, you'll need to take the ferry out there. I took the following from their website: There is no charge for visiting Fort Sumter, the museum, or Exhibit Hall in Charleston. However, there is a fee for the transportation to and from the island. With Fort Sumter Tours, adults are $19, seniors are $17, children are $12, and kids 3 and under are free.
It is went last week
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