A loading assembly of a bale wagon includes a lift actuator configured to drive a clamp assembly to rotate about a local lateral axis and a rotation actuator configured to drive the clamp assembly to rotate about a vertical axis. The loading assembly also includes a controller communicatively coupled to the lift actuator and to the rotation actuator, in which the controller includes a memory and a processor. The controller is configured to selectively control the lift actuator to rotate the clamp assembly about the local lateral axis between a collection position and a longitudinal delivery position, and control the lift actuator and the rotation actuator to rotate the clamp assembly about the local lateral axis and about the vertical axis between the collection position and a lateral delivery position.