Problems with my parents please help me iknow it is long.?

ok i have had problems with my parents my whole entire life, they locked me in my room at the age of 9. i think my mom has a mental problem because she will be happy some days and sad and angry others. recently i said i did not want to go camping because i just dont want to listen to arguing anymore. so my mom flipped out. she told me when they get back i will have to sleep on the floor and im not alowed to have any friends, and i can have anything to do. she said she will make my life miserable. then she called my dad and told him i am a bad kid and i dont do my chores and that i dont listen. then she called my grandma and told her the same. she said you have to come pick up you granddaughter and when my mom gets back from camping she said i am not allowed home and that she is going to talk to the state to find a place for me to live. she hurts my feelings all the time and makes me feel like i dont even want to live. i do what i am told and yes i do give attitude sometimes but i am only 16(seventeen in 3 months) what can i do to get away from her?!!??