The plan was to tap off the main power switch. This connects/disconnects the negative terminal to the main negative bus bar. Unfortunately, when this was originally wired, the negative connection was to one of the edge posts on the switch, and the negative bus bar was attached to the middle post.
After unsoldering, swapping, and re-soldering those two wires, I soldered the negative wire from the pair of Anderson power pole connectors to the remaining terminal, and I connected the positive wire to the positive bus bar, which connects to the positive terminals of the batteries. In this way, the charger will only connect to the batteries when the droid is off (i.e., the switch has cut the connection to the negative bus bar).
I reconnected the switch to the bottom of the droid and tested everything out, and it worked as intended.
Also, I 3D-printed this:
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