Can you get out of what? We don't even know what you were charged with.
As for the Miranda Rights thing - this comes up a lot - the police are only required to read you your rights if they are going to question you while you are in custody. If they fail to read your rights, then any responses you made while in custody (which can be broadly construed) might be suppressed.
Police are not required to have an arrest warrant before affecting an arrest. There are several exceptions to the warrant requirement that may be applicable. However, you should obtain counsel immediately to review potential factual and legal defenses. If you cannot afford a private defense attorney, apply for representation through the Public Defender.