How do I get rid of a racoon family?

How do I kill a raccoon? I don't enjoy making animals suffering but they are very aggressive, I've been bite once a year back and they bother my dogs and birds not to mention they have actually made their way into the inside of my house by opening the screen door. They do have rabies and I fear for my family and friends. I have 2 plans so far. 1 is making a spear from ply wood and my old hunting knife and stabbing the animal. They usually hang onto of my back porch since we have a small vineyard overhead. If it falls down I'll finish it off quickly by smashing it's head in with my baseball bat. 2 is mixing some food with strong rat poison I bought a bit back. Either way they must go. If you have any suggestions please share them unless you an animal rights activist. Technically speaking we humans are animals and I'm just protecting my species.�