Does my mom and dad have a chance?!?

Okay I'm going to court soon. And i live with my grandparents but they only have temporary custody. My mom is trying to get custody back. So my grandpa signed me over to my mom. Which means he allowed me to live with my mom and dad until the court date. so i lived with her and my step dad. but then some illegal things happened. but they were all mister-miners. And my mom and dad are taking care of those things legally.After that illegal stuff happened the children services man came and said that everything looks good and sent a good report to the judge. Then my parents got into a little argument because my mom cheated on my dad. So my dad left and said that he was never coming back. So my mother tried to kill herself. I called the cops and they came and got her and took her to a mental hospital. My grandpa came and got me and now i live with him until the court date. Shes getting the help she needs now. and shes getting out this week. My dad is back home!!! Yay! but my question is, does my mom and dad still have a chance to get full custody of me? I want to live with my mom and dad not my grandparents. Because when I live with my grandparents I get very depressed and I try to kill myself. My mom and dad are really good parents. And my grades and my attendance have improved when I lived with my mom and dad. I hope and pray that the judge picks my mom and dad. Im 16 and I have to go to court too and the judge wants to hear what i gotta say. And im gonna say that i wanna live with my mommy and daddy. What do you think he will say?!?