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i used adafruit’s retrogame aswell with my homemade gpio controller.
just make sure the script runs on bootup.

i’m sure there’s a line for emulationstation aswell so just make sure u add the one for retrogame above it.
(i haven’t tried my own gpio adapter with emulation station, only with MAME4all itself but it should work aswell since ES does no more than start MAME automatically.