Emergency stop from Atmega chip

[SouthernAtHeart]

In serial packet mode, if I need to send an emergency stop to M1 & M2, what the best way to do that? Something that would stop the motors even if a motor encoder failed.
Thanks.

[Basicmicro Support]

Use a MixedDuty command with 0 duty value or wire an extra I/O pin to S3 on the Roboclaw and set S3 to be a non-latching E-Stop. Set the pin high when running normally and pull the pin low to e-stop. The seconday I/O pin is probably the safest for a true e-stop situation since it wont rely on valid serial communications workin.