Definitely stay in projects. There are a lot of hot robotics-type projects out there. If you want to go after controls, you can go after it via the mechanical side or the electrical engineering side (I chose the electrical engineering, but I'll still take the MechE controls classes). As everyone has said, and will continue to say, get in a project. I would suggest seeing if there's a UAV, MicroMouse, DARPA (I know you're against military, but DARPA's sponsoring some really cool intelligent systems stuff, a lot of which has lately been autonomous navigation), or other Intelligent Systems stuff. I'm personally involved with UCSD AUVSI (Association for Unmanned Vehicle Systems International). AUVSI sponsors several intelligent systems competitions, such as unmanned aerial vehicles, unmanned submersibles, and unmanned ground vehicles. See
http://www.auvsifoundation.org/foundation/competitions/ for more info. NASA also has several internships that play with robots. Look for NASSA OSSI for those opportunities, and LARSS as a junior or senior in college. I'm not sure what there is in your college's area, but look for internships at startups that are playing with robots (could look at biotech automation companies, defense contractors, aerospace companies, research groups).
You're in for a great time as a college student. You will meet a whole lot of people. Many of the student groups will feel EXACTLY like FRC (sadly, in some respects). Probably the biggest difference you'll see is the budget you'll be allowed to play with, and the other toys you'll play with. Enjoy! (Make friends with the shop manager - if you're on good terms, it won't matter that you're a freshman EE. He'll let you in if he knows you're good).