Homeless in SD riverbed. Voucher?

Okay so right now im homeless. I have been struggling with addiction for 15 years. I have a court appearance on the 21st. As you might imagine its hard taking care of yourself living in a tent. Also its very cold at night and sleep comes in few spurts. The worst part is the loneliness,just me and my shame

Anyways im trying to get a motel voucher or something to get out of the riverbed and be able to wash up and get my bearing together for court...if i miss this court date then im really screwed. Its hard getting out of living in a tent. The things i have to do to keep my phone charged. Suddenly im not apart of the normal world. I reside in my own little homeless 711 can tuna world.