Emancipation Legal help please?

Im a 16 year old male turning 17 on April 21st I live in the state of Florida my mother has always been abusive towards me never bought me food etc i have always had to fend for myself I live with room mates at the moment I have a job I make atleast 400$ every 2 weeks I pay rent and buy my own food so i do NOT live with my mother she also wouldnt mind emancipating me except im not sure where I should start exactly my main problem is I need the rights as any 18 year old would being that Im a high school dropout and i just moved back to florida last year i cannot obtain a drivers license and it's getting really hard on me getting to work and back especially with the heat coming from summer can anyone give me some advice please ? I would deeply appreciate it! thank you very much - Devon