Hi Josephlittle,
The quality of lucid dreams can vary. Some can be crystal-clear, and some can be blurry and/or dark, which might make things difficult to see. It all depends on the vividness of the dream. Typically, lucids are more clear than normal dreams because you're aware enough to notice the small details in things. Lucidity is just consciousness within a dream; saying this, you'll know immediately if you have one, right when it starts in the dream itself (many lucids start randomly within the dream, where you suddenly become aware and make the connection that you're asleep)! As for the senses of sight, touch, taste, smell, hear... You can use all five of them in a dream. I've tasted incredible foods before, seen very colorful forests and realistic cars, and have heard so many noises (including dream characters talking to me in realistic prose). I don't use my sense of smell as much because I'm not even really sure if I "breathe" in my dreams or not; you don't usually pay attention to that. Touch is probably the most common and realistic sense; one memorable experience for me was rubbing my hand along a brick wall. I could feel all the tiny air holes and textures in it, as well as that of the cement.
You'll know immediately if you have a lucid. You're dreaming, walking along, then all of a sudden you stop and look around. "I'm dreaming!" you might say, and you might become very excited. Lucidity does not mean control, though. You can be lucid and be unable to control anything (sometimes a dream just doesn't like to co-operate!), or you could be in a normal dream, not lucid, but be able to control things. If you've ever had a dream where you were in space, using magic, or something else like that, you were exhibiting dream control, even if you weren't lucid.
In a nutshell, lucids are where you're conscious in the dream. Whether you have good control over that dream doesn't matter - if you realize that you're asleep and what's around you isn't real, then you've just had a lucid. The dream can last one second (where you become too excited that, well, you wake up) or fifteen minutes; the timing doesn't matter as long as you have that moment where you've realized that you're dreaming.
When you wake up, you'll usually be able to remember the lucid more clearly than a regular dream. It won't be hazy or half-remembered as long as you have relatively good recall - in other words, you can remember an average of 2 dreams a night, give or take. This is why keeping a dream journal is important. If you ever wake up in the middle of the night, have a sheet of paper and a pen at your bedside to record what you've just dreamed about. Write other dreams down in the morning. Write any fragments you can remember!
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