I wouldn’t worry about not taking a programming class in HS.
You can start with Scratch (also from MIT) and Alice. Also, you live in a second golden age for the experimenter.
Arduinos (which you can search for) are available at Radio Shack, and some of those stores will have some kits to expand just the basics. The Integrated Development Environment is available for download on Mac, Win, and Linux at no charge. Simple programs (sketches) are included with that download. It’s powered by a USB port.
Also, Raspberry Pi’s are out and available as bare bones boxes for around US$30 to around $130 for a full starter kit: http://www.makershed.com/products/raspberry-pi-starter-kit
The starter kit includes a book that describes setup and includes some description of running Scratch on the Pi. The Raspberry Pi is kind of fun because you get to install Linux on it right away.
If that’s too spendy, you might be able to score an older desktop or laptop and install a Linux distro on it. Ubuntu is pretty easy for a first time, but many others are straightforward as well, “Puppy Linux” can install on computers that ran Windows 97, for example. Part of the value of this is to get over the fear of a command line, and to help gain an understanding of how a system works. Most if not all of the source code is available, so you can, if you like, inspect and compile it on your own system. Not a lot of people in your position will have done that even if they’ve taken the “Hello World” Java course in high school.
Both the 'ino and the Pi as well as most Linux distros have communities and shared code as well as “maker” projects available. This means a lot of the basic questions have been asked and are easy to find answered.
“Little Bits” has an Arduino block available, if you want to combine those two. There are add-ons for both the Pi and the Arduino to run Lego Mindstorms sensors and motors.
Mindstorms itself is a pretty good learning toy, I think.
For general background, I recommend the “essays” at http://www.joelonsoftware.com/
His big project, stackoverflow and the follow-on stackexchange also have a lot of discussion and Q&A on programming concepts etc.
A friend put together some other links, including:
http://www.codecademy.com
https://www.coursera.org/
Edit:
That’s w w w . c o u r s e r a . o r g Not sure why that’s starred out, but if it’s a bad thing around here, any mod should feel free to edit the thing out entirely.
http://ocw.mit.edu/index.htm
It’s a good field, IMO, and even after working in it for 25+ years, I still get deep satisfaction from making good software. Those days when you look at a piece of code or block of logic and think “that is very, very good” make it easy to put up with a lot of the other nonsense of office life.