New Radar Turret and FoF system

Friendlies = {}
E = 0
A = 0
D = -1
CX = 0
CY = 0
CH = 0
CZ = 0
function onTick()
    CX = properties.getNumber("X")
    CY = properties.getNumber("Y")
    CZ = properties.getNumber("Z")
    CH = properties.getNumber("Heading")
    D = -1
    if input.getBool(32) == true then
        UpdateFriendlies(input.getNumber(1),input.getNumber(2),input.getNumber(3))
    else
        for i = 1, 8 do
            if D == -1 and input.getBool(i) == true then
                D = input.getNumber(i*4 - 3)
                A = input.getNumber(i*4 - 2)
                E = input.getNumber(i*4 - 1)
                if CheckFriend(A,E,D) == true then D = -1 end
            end
        end
    end
    if D == -1 then
        A = 0
        E = 0
    end
end

function UpdateFriendlies(X,Y,iD)
    Pass = false
    for i = 1, #Friendlies do
        if Friendlies[i][3] == iD then
            Friendlies[i] = {X,Y,iD}
            Pass = true
        end
    end
    if Pass == false then Friendlies[#Friendlies + 1] = {X,Y,iD} end
end

function CheckFriend(A,E,D)
    Enemy = true
    TH = CH + A
    x_target = CX + cos(TH) * D
    y_target = CY + sin(TH) * D
    Dis = 1000
    for I = 1, #Friendlies do
        Dis = math.sqrt((x_target - Friendlies[I][1])^2 + (y_target - Friendlies[I][2])^2)
        if Dis < 20 then Enemy = false end
    end
    return(Enemy)
end