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To begin, make sure the Cargo Truck setting (the one on the left) is on Auto, and not manual. Then send your Cargo truck off base. Once the cargo Truck is off base click on it. Finally, after the Cargo Truck is highlighted, right click on the MDR that you want it to service, and select "pick up resources". The Cargo Truck will then continue to move between the MDR picking up resources, and dropping them off at the Cargo Dock.