So far, you have still said nothing that will compel a court to deprive your parents of their legal right to raise their child. Your complaints are similar to probably 75% of the teenagers in this country - certainly very similar to what MINE have said, and I have one pre-teen and three teenage boys ('scuse me, "young men") living under my roof. It was only a few hours ago that I heard the "servant" comment from a 16 year old, and a complaint that I dared to ask that he pay for his own gas as he is driving around visiting his friends!
The bottom line is that you are NOT going to be able to go live with your friends unless mom and dad agree to permit it.
Take a look at the legal requirements for emancipation then ask yourself if you can possibly qualify:
232C.1 EMANCIPATION PETITION -- HEARING.
1. A minor who desires to become emancipated may file a petition
for an order of emancipation in juvenile court if all of the
a. The minor is sixteen years of age or older.
b. The minor is a resident of this state.
c. The minor is not in the care, custody, or control of the
2. A petition filed pursuant to this section shall contain the
a. The petitioner's name, mailing address, and date of birth.
b. The name and mailing address of the petitioner's parents
or legal guardian.
c. Specific facts to support the petition including but not
limited to the following:
(1) The minor has demonstrated financial self-sufficiency,
including proof of employment or other means of support, which does
not include assistance or subsidies from a federal, state, or local
(2) The minor has demonstrated an ability to manage the personal
affairs of the minor.
(3) The minor has demonstrated an ability and commitment to
obtain and maintain education, vocational training, or employment.
(4) Any other information considered necessary to support the
d. Any one of the following:
(1) Documentation that the minor has been living on the minor's
own for at least three consecutive months.
(2) A statement explaining the reasons the minor believes the
home of the minor's parents or legal guardian is not a healthy or
(3) A notarized statement that contains written consent to
emancipation by the minor's parents or legal guardian.
3. The court shall hold a hearing on the petition within ninety
days of the filing of the petition. Notice of the hearing, with a
copy of the petition attached, shall be served by personal service on
the minor's parent or legal guardian at least thirty days prior to
the hearing date. Any other parties shall be notified as provided by
the rules of civil procedure for service of an original notice.
4. The minor may participate in the court proceedings on the
minor's own behalf, or may be represented by the minor's own counsel,
or the court may appoint a guardian ad litem on behalf of the minor.
From what you have written, you do not yet meet the state's minimum requirements for emancipation. So, you tough it out until you are 18 or work to try and make things better.