In that type of court hearing the judge would decide what affect a parent contesting the emancipation of the minor would have upon the case. In many of the states that allow early emancipation, the minor must have parental permission before filing or hearing the petition, therefore depending on the state where you reside, the issue might not be relevant.
What you've described is a custody issue, not an emancipation issue (emancipation means that you live on your own and support yourself). Mom needs to petition the court for custody. At your age you'd be allowed to state who you would rather live with, and the judge will take your wishes into consideration when making the final decision.
No, but if you are 16yo and live in a state that offer 16yo's a early emancipation you can apply for that as long as you fulfill the requirements. Having a child is not a reason for emancipation they will accept. You will have to have a way to support yourself and handle school and many other things. And if you are 17yo it's better to wait because you will most likely have turned 18 before the case is over.
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