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It's likely you simply wore down your pads some, no biggie.
Possible, but probably unlikely you damaged the rotors. But rotors and pads are cheap if you can do it yourself. Easiest thing in the world to change, will take you an hour to do both wheels. Cost maybe $150 total for brand new rotors and pads, bit more if you get the good stuff.
Brake place will nail you though. Probably $600+ for new pads and rotors, I dunno.
I wouldn't worry too much unless you notice problems in braking.
-Phil
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