Is it too late? I feel depressed..?

Ok so I really liked this guy since grade 4 when he first came to our school. We are now in grade 12 and are 17. Let me tell you, he liked me too for a long time and know this. An example of this would be him always saying hi to me in the halls in highschool in grade 10. He even came to my locker too and talked to me. I was always really shy and didn't know how to talk to guys. So it never went anywhere. He didn't talk to me for the longest time or even acknoledge me (sorry about the spelling). Then out of the blue he see's me and my friend in a store and comes and starts talking with me. He then wanted to go walk around with us and I felt shy and said we were leaving soon so he left. I felt stupid afterwards. Also when we were in grade 9 and 10, there was this banquet both of us used to go to because our parents both did and i'd get up to go to the washroom and he'd follow me down the stairs. Id go to go out of the washroom and at that same moment he would come out unexpectedly?