You might be low on refridgerant or have a blockage. First thing you need to find out is what the specs for your truck and the ammount of refridgerant, line preasuers. After that you need a guage set to check how much freon is actualy in the system, and preasures on the high and low side both with the compressor idling and engaged. I dont recomend just adding refridgerant too litte as well as too much can destroy your systeme.
Any aditional reading and or doing is at your own risk
If your truck has alot of mileson it, and you have owned it for at least a few months, and you know the pressure specs, and you have the guage set, and the tools, and the knowhow you can try adding one can of refridgerant to the low presure side
and see if this inproves things if you dont get good results take it to an AC shop.