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The default MAME emulator in the RetroPie image is imame4all, you can replace it with mame4all-pi which is optimized for the Pi and has much better performance. You can install it via the setup script (it’s in Option 2 “Source based installation”)
Then you need to edit your es_systems.cfg and replace the existing MAME section with this:
DESCNAME=MAME
NAME=mame
PATH=/home/pi/RetroPie/emulators/mame4all-pi/roms
EXTENSION=.zip .ZIP
COMMAND=/home/pi/RetroPie/emulators/mame4all-pi/mame %BASENAME%
PLATFORMID=23
Then create a folder ‘cfg’ in /home/pi/RetroPie/emulators/mame4all-pi/
Roms go in /home/pi/RetroPie/emulators/mame4all-pi/roms/
mame.cfg is the config file for mame4all-pi located in /home/pi/RetroPie/emulators/mame4all-pi/
You will need a keyboard to setup your gamepad/joystick if you use one, press tab to open the GUI
mame4all-pi requires 0.37b5 roms
Hope this helps