SALEM – A Lynn man who admitted robbing another man who gave him a ride from Salem to Lynn last winter is headed to prison for three years.Anthony Hernandez, 31, of 170 South Common St., pleaded Monday afternoon in Salem Superior Court in a deal worked out with the prosecutor and defense, thus avoiding a trial.Hernandez pleaded guilty to armed robbery and assault and battery with a dangerous weapon before Judge John T. Lu. He will serve three years in state prison before being placed on probation for another two years, at which time he will be evaluated for substance abuse treatment and counseling with random screenings.Assistant District Attorney Michael Patten said the charges arise out of an incident that began in the early morning hours of Jan. 17 when Hernandez approached the 28-year-old victim in the CVS Pharmacy parking lot on Highland Avenue in Salem, asking him for a ride to Lynn.As they were driving down Rantoul Avenue in Lynn, Hernandez told the victim to stop the car and pulled out a knife, held it to the victim’s throat and demanded he turn over all his money.The victim turned over $400 in cash and the thief fled from the scene on foot.Hernandez was later identified by the victim through a photo array shown to him by police.Patten said the recommendation was based on the nature and circumstances of the offense.Defense lawyer David Grimaldi urged the judge to adopt the jointly recommended sentence. He indicated that the incident was motivated by substance abuse.Hernandez was indicted by a grand jury in April and has been held in custody in lieu of $2,500 cash bail since his arraignment.He still has two pending larceny cases out of Lynn District Court to which he is expected to plead guilty and receive a concurrent jail term with the prison sentence, Patten said.