Lawyer question about minnesota statues...?

Okay, so in the state of Minnesota, if you commit an unlawful act when your life is being threatened, the crime being something you would not normally do if your life was not being threatened. can you be found guilty? Also can you be found guilty of aiding and abetting if nobody is found guilty of the actual crime. i have a Friend who is going to school to be a lawyer, and in his law book we found a statue that said if your life was threatened you could not be found guilty. the only problem is i cannot find it again. and i cannot remember how i found it. The only reason i am worried is because if i was not threatened i would never have done anything like this ever. the only thing on my record is a minor consumption and a petty theft from when i stole some candy from a gas station back when i was a minor. i really need some help because my public pretender is no help whatsoever. and the charges i am facing are Very severe. please help me out. thank you.