Rosenblum added that Richardson recognizes that “he made a really poor choice.”

In the July incident, police said, an officer tried to stop Richardson’s car on the highway but Richardson exited at WingHaven Boulevard and sped through a red light to flee.

Police caught up with him after he pulled into the driveway of someone else’s home in a nearby neighborhood.

A 12-year-old male relative and two adult men also were in Richardson’s car, police said. After being stopped, police said they found a loaded semi-automatic handgun beneath the floor mat on the driver’s side and also detected “a very strong order of burned marijuana.”

Prosecutors said Richardson possessed the gun legally and added that there was not enough evidence to file charges of drug possession or child endangerment.

As part of Richardson’s plea deal, the judge placed him on probation for two years on the resisting arrest charge. After the two-year period, the conviction would be removed from his record.

He also pleaded guilty to two minor traffic violations that were reduced from misdemeanors.