My first "controlled dream"

Last night I became lucid with no apparent trigger but I was just in an orange haze. I decided to spin but this made me feel sick. When I woke up some kind of fear took hold of me but I was unable to move or shout out.
Has anyone else had these kinds of experiences?

first of all congratulations on your first lucid dream! :D
What you describe is very common and is called Sleep paralysis. It is basically your mind waking up before your body.
Some people report feelings of fear or intense vibrations and noises when in this state, Others think they are dying or an evil pressence is watching them. But there is nothing to be fearful about. In fact while in sleep paralysis you are on the verge of lucid dreaming.
I have sleep paralysis quite often, trust me when I say that no harm can come to you. However, sometimes you just feel scared with no explanation. The trick is to tell yourself 'Relax, just accept and experience whatever I feel'
It is very easy to 'step into' a dream while in this condition.
When you find yourself in sleep paralysis imagine rolling out of your bed, just remember that any movement you feel is probably not real. You will think that you are rolling over but it is actually your DREAM BODY! Keep telling yoursellf 'The next thing I see or experience will be a dream' Most important Reality Check wherever you end up.
You may think you have just woken up and try go back to sleep, If your eyes open and you can move perform a Reality Check chances are that you are having a False Awakening. you can then explore the dream world.

I also wrote a post called 'Opening Doors to New Dream Worlds
http://www.dreamviews.com/forum/viewtopic.php?t=26798
It is a technique I find really helpful if i'm in sleep paralysis and want to enter a dream that does not start in my bedroom.

I also want to add that the Lucid Dreams I have following Sleep paralysis are some of the most vivid and realistic, they are so much more intense than when I 'wake up' in the middle of a dream.