What legal defense do I have against the burglary charge I had 2 years ago that turned into a felony charge?

I was picked up in 2011 for a burglary charge. I was taken to the police station, not booked in, and released all without seeing a judge. And now almost 2 years later they have issued a felony warrant for my arrest for those charges. I didn't go to a court date because I never knew about it. I never even received any paperwork the night of the arrest.