Emancipation: Emancipation In Washington

Ok so I have just resently started to srsly consider emancipation. The last 3 years of my life havent been easy with my illness and stuff. I have tried to kill myself a couple of times. (what would the judge think about that?) I see a psychologist and a counsuler cuz my mom and dad make me. I have tried talking to them about getting a job, but there answer is no. and there reasons are rediculos. So im pretty much wondering if I should attempt to get Emancipated. I know my parents will fight it, but i cant take it living here anymore...
anything and everything i do is always wrong. My grades are never good enough...even tho they are B's and C's. My attitude is horrible (so they say) but what do you expect from a teen thats treated like the family maid. Just yesterday I was riding in the car with my mom and my lil sis and i told my mom i was tired of being the trail child (the first born...you know the kid that they try everything out on) and she got really mad and told me that she hated that i was rude and a smart@$$...and she hated that about me...then she pulled the car over and made me walk five miles home and when i was like half way there my dad came and picked me up. Its not healty for me to live with them. I know i can do better. They have kicked me out before and i lived with my gma and papa fro like 2 weeks...i did so good at thier house...there was no fighting no slaming of the doors and no verbal abuse. Life was fine. what do i do?