Help me out please!!!!!!?

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 my stepdad until the court date. so i lived with her and my step dad. but then they got caught with less than a gram marijuana. but it was a mister-miners. And my mom and dad are taking care of it legally 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. Shes out of the hospital and doing great! 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 in school 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 the judge will say?!? I know a lot of people that do a lot worse things and get in more trouble and still have their kids.....I'm 16 years old. And I am going through some hard custody issues between my grandparents and my parents. I want to live with my mom and dad. I have to go to court soon. And if I don't get to live with my mom I want to emancipated. I don't know how I can do that. I live in Ohio. Can you please help me?!?Okay me and my boyfriend are kinda going through a rocky path. And we were talking about getting engaged and having some babies. So how do i know if he truely loves me and wants to be with me?