Yes, in a couple waysways.
- If you downloaded the commandline vesion of mame, it should come with a hotrodse.cfg file in the ctrlr folder. In mame's mame.ini file, set "ctrlr hotrodse", and you're done. This also does other remaps, like being able to use P1B1 like the keyboard's enter (great IMO), but also makes it too easy to accidentally exit the game (press P2 coin & P2 start at the same time, very bad IMO).
If you have the mameUI version, you can DL the CL version and copy the hotrodse.cfg file into mameUI's ctrlr folder, and set the default controller to hotrodse.
- If you don't like the resulting maps, or don't want to bother with ctrlr files, you can also remap your own. Start any (working) game in mame, tab, "Input (general)", "User Interface", scroll to "UI Left", enter, press hotrod's stick left, wait for mame to accept it, (repeat or other left's you want), (repeat for "UI Right").
- You can also hand edit the hotrodse.cfg file I talked about before with any text editor. IMO very easy to understand, but if you don't understand it, I'll gladly help.