Don't start putting ideas into the founders' heads. Article I, section 8 allows Congress to raise and support armies. Even New York City didn't have a formal police force until 1845. Police are fairly new.
I ran across this link which explains how the US worked before Posse Comitatus. It's even from one of those "Big Brother is right around the corner" authors.
A lot of things get attributed to our founding fathers. It looks like I was off base with my comment. However, I don't think they'd feel much differently than I do with regard to having armed US forces on our streets.
We have accepted the National Guard under the control of our governors to help out local authorities in times of national disaster or civil unrest. But the idea of subjecting the citizenry to military control indefinately as a general principle is a very bad idea in my opinion.