Divorce Source: Did I do the right thing?

My husband and I have been together for 5 years. We have a 5 yr old son and a 4 yr old daughter. Our whole marriage has basically been one big fight. We have seperated 4 times. Each time I chicken out and go back to him. To me it feels like he is controlling. I am afriad to recieve phone calls, texts, or send emails. I am afraid to get on my computer. I am afraid to ask to go out with friends. Its not like he would beat me up if I did these things but 9 times out of 10 he would get angry. I felt like if I answered my phone for a friend then I would have to suffer the consequences for days. He is very rude to my friends, basically he doesnt want me to have any. A year and a half ago during one of our arguments he wouldnt leave me be, took my phone and hid it. I got scared and tried to leave in my car. He started hitting my car window. He put a mattress behind my car, so I just backed over it. He then jumped on the hood of my car. I continued to back up, afriad of what would happen if he was able to get into the car. I called the police, they just made him leave for the night. Then in March of this year, we were again arguing. I went upstairs and locked my door. He tried to break it down, so I opened it. He grabbed my purse and threw it, I think he was looking for my phone. I put my arm out to keep him from getting it, and he pushed me. He was arrested for DV. I started to feel remorse for calling the police, like he didnt really hurt me so I shouldnt have. I talked to the prosecuter and they decided to do a deffered prosecution. He was ordered to do anger managment. Then tonight, he wanted to talk about why I am not very loving with him. I told him its because he is controlling and mean. He started to yell at me. I asked him to stop. I tried to just watch TV and ignore him, he took the remote and turned the TV off. He wouldnt stop yelling so I went upstairs to the bedroom and locked the door. He came up and started pounding on it. He was scarting me pretty bad. He said he wanted his work clothes for the morning. I told him that he was scaring me and that when he went downstairs I would put his clothes outside the door. He then tried to break the door open. He put a hole in it. I called the police. I told him that I was calling. He stopped yelling, and said he just needed something out of the bedroom. I didnt believe him and I was on the phone with the 911 operator who said not to open the door. He told me that if I didnt open the door he was going to take the children. They were asleep in their beds and my son is very sick with the flu. Shortly after that the police arrived. They saw the hole in the door and arrested him for DV and criminal damages. Now here I am, feeling horrible. I feel like I did something wrong. Like I got him in trouble. I know that I was scared and that he shouldnt have tried to break the door down. But at the same time I feel like I shouldnt have called unless he actually hit me. I was afriad he was going to when he got the door down, but it never went that far. I feel like if I had waited to call 911 then maybe he would have calmed down and everything would have been alright. Why do I feel so guilty? And should I? Its like I know he is controlling and that I live my life walking on egg shells but then he makes me feel like I might be crazy, like I am exaggerating. I just dont know if I did the right thing.. Sorry so long. I just needed to get it out.