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In order for the prosecutor to convict you for taking the car, he has to prove you intended to permanently deprive the person of the car. With your medical and mental health history, there is no way he can prove intent and the fact you called the police would support that as well. At this point though you need an attorney and if you cannot afford one, you need to get a public defender. You need to get your medical records to your attorney as well as an affidavit from your doctors and the chances are here that the DA will dismiss these charges based on your condition.
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