You can have control without being lucid. You can also be lucid without having control. Like dak said, the only thing that is necessary for a dream to be counted as a lucid, is knowing that you are dreaming within the dream. If you do this, you are lucid. The last thing you were going to do was spit, but you woke as you were spitting/breaking your SP, which caused you to perform the action in real life. That was actually pretty comical. Don't worry, this rarely happens.