Do I still have a chance at Yale?

Hello, It has always been my dream to go to yale, since I was little, now I find myself a sopre with terrible freshman grades ( one A, couple B's one C, and an F! 2 honor's) the only reason for the poor grades was the diagnosis of my of having being bipolar after crashing her car, with me in it, into a building n a snow storm because she was chasing snowflakes, after this and many other incidents my father couldn't take enough so he put her in a home and moved across the country, at that time I was having very conflicting emotions and I did very poorley.I was planing on writhing my college application about that experience Now I put my head on straight, have already been preparing for my SAT's, made sure I was in all honors and one AP. My question is if i begin an upward trend do I have a shot. Also I run on cross country, swim, row (which I hear is big at Yale), play lacrosse, debate team, and chess team. I am adequate at the sports, but debate and chess I excel, no awards...yet, but top of the team.I have made 3 different computer programs 1 of which Is in the mac app store, and, one was a location based service that uses AI to help find better music Apple tried to buy it, but I decided to upload for free, and the last one I'm not sure what to with. I apply i would go with early action Also i am planning on attending Harvard SAP or Yale Summer Session.