There are two main types of financial aid: the first is income based, which you may or may not qualify for. The second is merit based, which is not based on income. Your goal is to maximize your shot at merit aid.
With that said, you will also qualify for certain types of student loans.
In terms of merit aid, colleges give out merit aid based on what they feel you're bringing to their school. So for example, let's say you're a B average student, and you apply to Curry College because you love it. Curry's average accepted GPA is lower than yours, so they may give you some merit aid, to encourage you to attend. Likewise, let's say you're from Florida. You apply to U Maine Orono, which gives merit aid to out of state students, to encourage them to attend. Or let's say you play tenor sax, and SUNY Fredonia really needs a tenor sax. And etc. The trick is identifying schools that you like which offer merit aid, and your guidance office should be able to help you with that, as can the US News website.
And although you won't qualify for government grants, as those go to the impoverished, you may qualify for certain types of income based financial aid. Some of that is given directly by the schools themselves.
So stop freaking out. Instead, focus. Now that you know more about how all this works, start looking into schools that do offer merit aid. Do research as well on private scholarships you may be able to apply for as the time comes. Talk to guidance. Do online research. Visit schools and talk to financial aid and admissions.
And since where you go will depend on what aid you get, apply to more than one school. Make no one school your "dream school" until after you apply, get in, and see their aid package.