Your Grandparents would have to go to Court, PROVE you are an abused child, ask the Court for custody.
How have you been mentally abused? Parent/teen child disagreements are not unusual. What specifically happened concerning you.
Where is your father in this picture? If your mother has custody, he can petition that custody be given to him (with the same proof) much faster than your grandparents can get custody or guardianship.
Your grandparents need to consult with an Attorney in their area - if you are living with them without parental permissiion your parents can get an order and force you back to their house or into foster care.
You can be emancipated if you are employed, live on your own. I know you don't live alone so I'm not going into details.
How did you end up at your Grandparents' house?
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