I've tried to show how to alter the overscan settings on the Raspberry Pi so the viewable area all fits on the TV screen.
More details are here:
http://blog.petrockblock.com/forums/topic/using-overscan-in-retropie-to-fit-video-to-your-display/
Also here for the config.txt settings
http://elinux.org/RPiconfig#Video
The video modes for EmulationStation are here:
https://github.com/petrockblog/RetroPie-Setup/blob/master/supplementary/runcommand.sh
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