The officer observed the Defendant speeding and driving erratically. Th officer, who was in an undercover vehicle, activated his traffic lights and attempted to to conduct a traffic stop; the Defendant took off at a rapid rate of speed and was later located at home outside his vehicle. He was subsequently charged with the felony offense of fleeing ans eluding. The attorney filed several motions challenging the legality of the stop prompting the state to drop the felony charge.