Terry Stop - Arrested but given citation??

What is the name of your state? FL
Short Version.
In a town about 90 miles away from mine I was traveling in a 6 lane road (3 lanes per side), witnessed a state trooper about 100 yards in front of me go driving across 3 lanes of oncoming traffic to go into a ditch on the far left, I was in the far right lane. About 1.5 hours later I was stopped by 4 police vechiles, told to turn off my vechile, put my hands where they could see them, one officer had his weapon drawn, and was told to step out of my vechile. My truck was inspected for damage, I was frisked, then handcuffed and put into the back of a police vechile. 5-10 minutes later I was read my miranda rights. 10 minutes later I was removed from the police vechile, unhandcuffed, and asked if I knew what was going on..."No, I don't" This happened because they informed me that they had a "Be on the look out for" a vechile that matched my truck because it had been involved in running a police officer off the road. I informed them that I did see this but I was nowhere near it. After telling my side of the story I was told to "Think about my srory for a couple of minutes" After 25 minutes the police officer told me he just got off his cell phone with an eye witness that got my plate number and my story had too many holes in it. After all of this I received an $86.00 citation for improper change of lane or course"
OK, I know the first thing you will say is to get a good atorney, I honestly can not afford one. I know I was arrested, but what I need to know is what key points I should hit on when I go to defend myself in court and what rights of mine were violated.
I obtained the crash report and put in for a full discovery but they just sent me the crash report again. I do have one of their witnesses that I am going to get a deposition for but how can I do that without a lawyer also.
If you read all of this, thank you and I can fill in any gaps but I didn't want to make this longer than it is.