I live in St. Louis Missouri and i was wondering if it is even worth it to fight a failing to yield ticket and what i should expect on the legal side of things.
What happen was I pulled up to an intersection and saw that to my left cars were stopped at a red light, once i approached i slowed down then realized i could merge onto the road so i then proceeded to turn right. I did not cut any cars off or come close to hit one, also i didn't speed around the corner i slowed down to make sure i could get on the road. The cop then pulled me over; he was at the front stop light in the far lane on a two lane road(on the road i pulled on to).
Could someone clarify what yielding is, to my knowledge it doesn't involve coming to a complete stop but slowing down to make sure you can merge appropriately.
I know i gave a lot of info but any advice would be much appreciated thanks.

