2004 Dodge Dakota Brake Caliper

I have a 2004 dodge dakota the first time that I noticed a problem when I smelled like something was hot and I noticed smoke coming from or around the brakes took the truck to the dealer and they told me the calipers and brake drums the brake line was fine that there was nothing wrong with it so a couple of months went by and no problems with it until today when I pulled the truck into the driveway and smoke was coming from the driver side wheel area My family doesn't drive the truck very often usually we use the car (since gas prices are up) can it be because we don't drive it that often or something else any suggestions would help
thanks