Run that game in MAME, press [tab], remap the analog X axes with the PSX pad analog stick X axes (move it horizontally). For the pedal or analog buttons, use any digital key of you PSX pad on the "decrease" value, and left the other value unmapped.
Pedal 1 is gas, 2 brake and paddle is the steering wheel. Map any button to each "Pedal dec(rease)" and set "Pedal Analog" to "N/A" or "none" (press [Esc]). Paddle 1 dec: analog stick left direction. Paddle 1 inc: analog stick right
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