Is there a wiring diagram available for the E-stop wiring? I would like to add an additional wireless E-stop.
Here’s a diagram of the Wireless “soft” E-stop using a Kar-Tech wireless E-stop+receiver, a feather and 24V-5V converter. It plugs into the the CAN bus and uses a modified version of the bumpers/code.py example. This allows you to send an EstopRequest to safely stop/brake the robot. I’ll provide more documentation if you’d like to duplicate this setup.
Alternatively, you can open and close the E-stop circuit using pin 2/3 from the bulkhead M8 connector (after removing the jumper). This is not recommended because this turns the motor controllers off and the robot will roll freely.