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Darth Vader revealed to Luke he was his father in episode 5, when he said, "Obi wan never told you about your father, didn't he ?". Then Luke said," Enough! He told me enough! He told me you killed him." "No Luke, I am your father.", Vader replied.
Frank Oz who did the voice of yoda was also yoda's pupeteer
About 800 years.He says this in either Return of the Jedi or the Empire strikes back.
It was never mentioned in the films. In the books, Luke didn't know, in fact in one trilogy someone misled him about his mother's homeworld and he visited some other world thinking it was his mother's.
No. Luke never turned to the dark side. Only his father did. Of course, that's only true if you completely ignore the extended universe comics and novels that not only feature Luke turning to the dark side once a resurrected Palpatine appears, but had him breaking free and becoming a full Jedi master by way of the experience.