Welcome to Dreamviews! A lucid dream is essentially one in which you're aware that you're dreaming. Regardless of whether you can actually control your body and/or the dream, if you were conscious in the dream, then it was a lucid!

If you haven't tried the MILD and DILD techniques, I suggest go for it - many people find it simpler than a WILD, because all you really need is awareness. There's some links to tutorials, as well as a description of other techniques, on the page Beginner's Guide to Lucid Dreaming, linked in my signature. For food and drink that induces lucidity, that's a tough call because most foods don't really increase awareness! If you're looking for a dream vividness boost, though, foods like salmon and drinks like apple juice have vitamin B6 which will do the job. As expected, taking vitamin B6 supplements also works. Binaural beats have had mixed success with people, but try them out; there's some on youtube.

If you have any other questions, don't hesitate to ask!