Looking for a bicycle lawyer

Hello, I am looking for some help with a traffic ticket I got on my bicycle.

I was riding my bicycle near Lake Harriet Bandshell and I went through a stop sign that a driver had waived me to go through following the Minnesota Idaho Stop law. A cop saw this and pulled me over at Lake Harriet Bandshell. And gave me a citation for failing to stop

I drive the city bus for work and this citation means I will be terminated if I get anything except a expungement of the record from my drivers license.

I don’t want to be fired from a job I actually really enjoy doing and need some help.

I cannot afford a lawyer, and I am basically lower middle class. Can anyone help me?