It sounds like you definitely did experience sleep paralysis, but that's no reason to stop trying to lucid dream. Although it can be scary at times, sleep paralysis is completely harmless.
I would encourage you to read this article, put together by some of the admins, mods, and dream guides of the forum, debunking common misconceptions about sleep paralysis: http://www.dreamviews.com/wake-initi...explained.html
Just a quick summary of the article: Sleep paralysis is caused by REM atonia, which is the body essentially shutting down any unnecessary muscles, basically preventing you from acting out your dreams in real life. It is completely harmless, and actually happens every night - we just don't notice it because we're already asleep. It often plagues those attempting to WILD since they are aware when it happens, causing hallucinations that can be very frightening. However, the important thing to remember is these hallucinations are just dreams themselves, and if you keep a calm head and general awareness, you can use sleep paralysis to transition into a lucid dream.
As for the foot banging, stuff like that is called Hypnagogic Hallucinations (HH). These are auditory and visual hallucinations that can occur as you're falling asleep. They can kind a be a sign that you're getting close to falling asleep, but it's best to just be passively aware of them while still staying focused on your intention of lucid dreaming.
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