Can i join the army with a felony waiver? And has anyone ever met someone in the service with a felony?

Last year november 2010 I decided to go out and hang with a cousin of mine. She's not a bad person but just has a problem with taking things. Normally when i'm around she doesn't do anything but that day we decided to walk to the library because her mother was there. There was a red mopad and she was already getting the wrong idea so i walked off further into the parking lot to be away. I meet back up with her and some guy after they moved the mopad and i walk with her back to a friends house and the cops roll up on us and take both of us into custody for larceny. i explained what had happened and that i had ABSOLUTELY nothing to do with it. So i agreed to a first offenders program on my court date being that they said it would get expunged. I didnt know what to do so i took the deal. Going to the army has always been a strong aspiration of mine even though i failed the test by one point before everything happened. Is it possible for me to still join? maybe the army? national guard? navy?