have you ever had a lucid dream?

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A lucid dream is a dream where you are the controller, you are dreaming while knowing you are dreaming. In lucid dreams your conscious and subconscious work together and you can do everything you can think of like flying or dying and feel exactly as if you are experiencing it for real. I've never had one but I tried to and screwed up my sleeping habits. But it sounds something so great. have you ever had one?