Haven't spent much time in St Lucia (only anchored below the Pitons.. actually snagged one of the mooring buoys there.. pretty cool) and if you're picking up the boat in Rodney Bay the Pitons are a wrong-way diversion.
Martinique has some interesting bays and seriously good marinas, but you're unlikely to need/want a major marina stay in the first day or so?? or maybe so?.. Anyhow Le Marin is impressive, anchoring at the small village just south of the bay proper (St Annes?) is charming.
Domineca is a visit that's worth renting a vehicle and driving around.. dramatic landscape, contrasts between the windward and leeward sides, waterfalls and hikes inland, fascinating (and sometimes scary - driving, that is - guided tours are likely available) There only one real good anchorage at the north end, Prince Rupert bay. There's a real nice bay at the south end with a dramatic peninsula but it's a park and anchoring is forbidden.
Be sure to allot a couple/three days at Iles des Saintes, just south of Guadeloupe at the end of your time.. absolutely must-see.. go ashore and wander about, interesting airport, snorkeling bay on the windward side, Euro beaches
A good hike up to Ft Napolean.. keep in mind no construction cranes or heavy equipment were involved in the construction of these massive forts..
If you're turning in the boat at Guadeloupe, you're likely going to Pt a Pitre... if you have time the snorkeling's good at "Pidgeon Island" a short way up the leeward side, and the village of Des Haise is another charming spot with a decent bay, but again 'out of your way'.. all depends on how much time you're allowing and how much 'shore' time vs passage time you want to arrange.
Whatever, its all good!