When it comes to communicating with officers of the judicial system, and understanding the protections afforded to all Americans by the U.S. Constitution, The 5th Amendment is more about keeping innocent people from becoming their own worse enemy as opposed to helping the guilty avoid testifying against themselves.
Its important to know that even if you tell the police the entire truth, and they know you are telling the truth, there’s nothing to stop an overzealous prosecutor from reviewing you statements and uncovering more potential criminal offenses to prosecute you on. In fact, telling the truth to the police may serve as a confession of criminal wrongdoing.
Keep you mouth closed when dealing with the judicial system. Any lawyer worth his pay would never put his client on the stand.