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The Raspberry Pi has an analogue stereo audio jack output (Pi 1 A/B/B+, Pi 2, not Pi Zero), and audio can also be heard through the digital HDMI output (all models).
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votes
How can I start an mp3 from the beginning every time a headphone is plugged in?
Hook the audio pins to Pi jack and the detect pin to GPIO. Make sure the detect pin works against ground (most of them do, but there always is a possibility of some exotic configuration). …