As a Computer Engineering student, I'm gonna say Computer Engineering is the best of those three
In all seriousness though, it really depends what you want to do, and where your interests lie. I'll try to give you information that I would've liked to have a year ago.
I'll give you a little bit of detail of what I see each of those programs being, I have first hand experience in CE and I know people in each of the other two.
CE: CE is basically EE+CS, actually. Might sound a bit cliche, but it is a pretty good middle ground. You get to do lots of embedded stuff, and learn about both hardware and software. Another nice thing to note is that out of all the engineering disciplines at my school (University Of Waterloo (That's in Canada, if you weren't aware)), CE had the highest co-op employment rate. I chose CE because I like both hardware and software but didn't want to do either one alone. I like programming microcontrollers, and the fundamentals of electronics and computers. I think those interests fit very well with my program.
EE: EE is more theoretical than CE (in general), and with less focus on computers. At UW they follow the same curriculum for a few terms and then some courses branch off into different directions. EE's do electrical theory/power/etc and we (CE) do compilers and operating systems/etc. I'd choose this if I were less into programming and computers and more into electricity/power distribution/etc.
CS: CS is essentially just programming, and algorithms/etc. They don't go much into detail about hardware, and don't know too much about the internal workings of the stuff. Of course, one could take all ECE electives and change that, but in general this is the case. I'd take this if I could care less about what a transistor was, but had a poster of Dijkstra on my wall.
Another thing to note: Engineering is a professional program. I'm not entirely sure what it's like in the states, but in Canada it's much more structured and controlled than CS or any other technology program. I don't have any electives until the second half of my second year, whereas a CS student takes multiple electives starting from the first term. Lots of these electives aren't technical either (think languages or psychology). Personally, I'd hate that.
ECE curriculum at my school: http://ugradcalendar.uwaterloo.ca/?pageID=10430
I'd also highly highly recommend co-op if you have the opportunity. It's a great way to network, pay for school and learn new skills they can't teach in the classroom. It'll help tremendously when you graduate too.
Based on the information you gave me though, I'd have to say you sound like a computer engineer to me.
BTW: I was also in FIRST for 2 years, the last year being team leader and in charge of programming and electronics too. I still plan on watching the kickoff even though my old team has died and I have no stake in the competition. I might even try to check out the regional in Toronto, since I'll be working there for my co-op term. Good luck this year.