We ended up with more Gen 1 brains than Gen 1 controllers, and would like to be able to pair our new Gen 2 controllers to the old brains. Is there a way to do this without changing firmware
Yes, that will work. All the Gen 1 and Gen 2 gear is cross-compatible except that the two generations of batteries use different chargers.
IIRC your Gen 1 brain will need to have a smart (blue) radio and be running the latest firmware to pair to a Gen 2 controller.
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