Hey Jim,
That's a conundrum, isn't it? Since you don't want money for the photo, I think it would certainly be appropriate to speak with the folks to whom you donated the file to let them know what you feel. My guess is that they saw the file as 'donated' and did not think twice about it.
"I don't want to come across the wrong way and "demand" that they come to me for such use in the future, but I am thinking about "offering" to "provide Hi-res files, properly converted to B&W etc in the future. This will allow for presenting the dogs in the best possible light . . . "
That's not a bad idea, actually.
James