Well if nothing else they definitely should have cleaned up more, that is terrible you were left with a mess and your husband had to deal with it right after the birth.
How long did it take her to get there after you called and said she should come?
If it was me, I probably wouldn't ask for a lower fee, though it does seem sort of unfair that they didn't really do their part. But I am pretty sure most contracts say that they are not at fault if they don't arrive in time, particularly for a precipitous birth. It also might say on there somewhere that you can expect it to take 1-2 hours for them to arrive after they call. If you have a copy of the contract still you should take a look at it again.
I don't know a ton about it of course, but from what you said I don't think that she really could have assessed the situation much better than she did. Birth experiences vary greatly, but "normally" you don't go from contractions 10 minutes apart to pushing nearly as fast as it sounds like you did. I think usually one of the most reliable ways to tell what phase of labor a woman is in is how she feels. Not that it is your fault by any means for not knowing the baby would come so fast, but it didn't sound like you were having many of the typical signs of active labor or impending pushing.
When you go to talk to her, I'd probably mention at the very least that you were disappointed with their lack of helpfulness after the birth and not cleaning up like they had promised and maybe just ask why she wasn't able to arrive on time. You don't have to be confrontational about it, but try to communicate why you are bothered, then hopefully she can respond thoughtfully without feeling defensive, and maybe she'll even have a helpful explanation or offer a reduced fee herself.
Follow Mothering