you do have enough time. instead of taxi you can take the airtrain for 5USD.from penn station take the E train to sutphin BLVD. follow signs to air train. your leaving underground to upstairs which is the airtrain. air train stops at every terminal. Any more Questions e-mail me at Gtboy1995@yahoo.com i live in NYC so i can be very helpful for anymore questions
you do have enough time.