You have the right to hire an attorney to represent you in municipal court. However, you are not required to have an attorney.
If there is a likelihood of a jail sentence, and you cannot afford to hire an attorney to represent you, your eligibility to have an attorney appointed for you by the court is determined by judicial assessment of financial information that you provide to the court on an application for appointment of counsel.
If the prosecuting attorney is recommending a jail sentence for the violation for which you are charged and/or the Judge intends to give you a jail sentence, the Judge will inform you of that before you enter a plea.
You do not have a constitutional right to have an attorney appointed if a jail sentence is not a possible punishment.
Public Defenders, by Missouri state law, are not allowed to represent individuals in municipal court cases.