What can I do to get into a decent college?

Last week I was talking to a friend about college- where we would go, what we wanted to become. When he told me there was no way I was going to get into a college I'd been thinking about for a while, it really hit me that I've really screwed myself up. I'm halfway through my junior year of high school, my unweighted GPA is a 2.9, and my weighted GPA is 3.0334. I almost never checked my grades out of the fear of seeing my grades, and even now when I look at them my face gets red and I feel like I'm having a panic attack. I've been telling myself "I'll do better next year" and every time I've failed to do so, still never checking my grades and forgetting homework more often than I'd like. I'm in my first four AP classes this year and will be in four more senior year. I'll have completed AP Calculus BC, E+M Physics, AP Literature and AP something History when I leave high school. I have minimal sports or volunteer work. In my second semester of my junior year, I currently have an A and B in normal classes along with 3 AP B's and one AP A.  

Is there a way I can haul my ass to have a respectable image for colleges by the time I finish high school? I've always wanted to be an engineer, doing something with math, but now I'm not really sure if that's a possibility. I'm willing to do anything to fix this.