You can add any user to any group you like, by using the groupadd program
in the terminal. For example,
usermod -a -G audio pi
would add the pi user to the audio group, allowing them to use audio
functions without having to be root or use sudo for the access.
Of course, the usermod command needs to be run as root, either with sudo,
or as being logged in as root
If you can figure out what group the io pins are in, this could solve your
problem.
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