Abstract: A system includes one or more processors configured to determine a discharge rate associated with discharging material from a hauling machine. In some examples, the system receives sensor data associated with a crushing machine configured to receive the material. Based on the sensor data, the system determines the discharge rate, to optimize the efficiency of the crushing machine. In some examples, the system determines the discharge rate based on input by an operator via a user interface. In some examples, the system determines an angular rate at which to raise a bed of the hauling machine to cause the material to be discharged at the discharge rate. Based on a determination to discharge material, the system causes the bed to be raised at the angular rate to discharge material. In some examples, the system may update the discharge rate based on additional sensor data and/or an additional operator input.