Can i get emancipated in Colorado at age 16 or 17?

I am a 16 year old girl who hates her life (stereotypical) but im not crying over standard lame excuses as to why i want to get emancipated. I used to live with my parents and I decided to move in with my grandmother (my mom's mom) because long story short, me and my boyfriend started sneaking out and we got caught. so my parents forbid me from seeing him and i decided to move in with my grandma. but moving in with my grama wasnt jst because of my boyfriend (2 years together) all my life my mom has mentally abused me. my dad has gotten ill with MS and its making him a meaner person. my parents are and hav bin divorced and i ***** stand the constant switching of households and never gettin to permanently settle down. my dad has a new family and thats all he cares about. i hav 2 half baby siblings from my step mom and 2 blood sisters. (i dont kno if u need tht information) but i had it wit my parents. wen i moved in with my grama i was happt cuz id finally get to see my boyfriend (who i love dearly [he is 19 and graduating from the navy reserves]) and i thot life wud b great..... boy was i wrong. my grama is a wonderful generous person. as are my parents. but my grandma gets drunk everynight, and yells and picks at me. she mocks me wen im upset and expects me to b perfect. i clean her house completely ONLY out of kindness, and i get yelled at cuz the only thing not clean is my f***ing bed. this happens alot. im jst sick and tired of it all. i hav an average 2.7 gpa (which includes college classes [AP and honors classes]) and i hav a job. however i do not hav a liscence, however i hav a car in my name. i kno how to drive, and only 6months away until i become 17. i really love my family alot. but for tha past months iv wanted to go to sleep and never wake up. i blew off the feeling cuz i figured i was bein drammatic and these bad days wud pass..... but i jst wana get out. i wana live on my own (wit my boyfriend). I just really want to kno if and how can i get emancipated in the state of colorado being as how i wont get my liscence for another 8/7months... can i live with my boyfriend?