On Sunday, a video of the incident was posted to Twitter by the Michigan State Police.

In the video, which shows officers responding to a call at the intersection of Interstate 85 and I-75 in Ypsilanto, the man is seen pointing a gun in the direction of the officers.

One of the men who was shot was identified as 29-year-old Joshua Miller.

Police have said Miller was armed, but they said he pointed the gun at the officers before he was shot.

On Monday, Miller’s attorney, Joe Stacey, told the Associated Press that Miller “had no intent to harm anybody, had no intention to hurt anyone, was not under the influence of drugs or alcohol and was not even trying to run away.”

Miller was arrested Monday and charged with felony counts of carrying a concealed weapon, unlawful use of a weapon and felonious discharge of a firearm.

According to police, Miller, who had no criminal history, was detained by police after officers saw him pointing a handgun at them.

“I think they thought he was going to shoot them,” Michigan State Trooper Robert LaFerrara told the AP.

The video also showed the man wearing a mask and not a bulletproof vest.

The Associated Press contributed to this report.