Good tip?

My husband and I went out to dinner the other night and the place we went to was packed. We thought about going somewhere else, but it's our favorite place to eat. Our waitress was slammed. My husband I were just there to have a good time though and didn't care how long anything took to get to us because we were talking and laughing. We were there a good 3 hours. Our waitress did wonderfully and did pretty well on keeping up with everything. She gave many people discounts and stuff as well for the long waits and stuff. She gave us our drink's free. She also hooked my husband up with the meal he wanted, but found a way for him to order it cheaper than what he had ordered. The food was fantastic as always! So was dessert. Our bill came to about $34. I gave her all the cash I had that was $28. Was that a good enough tip? Usually my husband does the tipping.