You have given a very detailed account of the events leading up to your arrest. The police officer will undoubtedly have a different version of what occurred. Consult with and retain a criminal defense attorney right away to assist you with this case.
I agree with Attorney Border. You're actually arrested when you're pulled over, it just doesn't always turn into a custodial arrest.
It's never a good idea to get into an argument with the officer or "one-up" an officer. Even if he wasn't concerned for his safety, your talking about your community involvement was probably not the right approach.
Nevertheless, you should retain a defense attorney so that you can fight the charge.
This answer is given merely for informational purposes and does not create an attorney-client relationship. For specific advice, contact an attorney in your state to see if working together makes sense.
Hopefully, as you mention, the patrol car's camera caught the whole thing. Also, you had a passenger who can act as a witness to corroborate your account of the story.
Nonetheless, you should hire a criminal defense attorney to ensure that your rights are protected as the State determines whether to charge you.
Disclaimer: Brian Cheng is licensed to practice law only in the State of Washington. Comments are not a substitute for professional legal advice, do not constitute legal advice for your situation, and are not intended to establish an attorney-client relationship. Comments are made for general information only. For more information or to seek a consultation, please visit www.chenglaw.com.