Here’s the drill.
Set your ISO to the lowest value (80-100, or whatever it is on your camera). Reason: this is your camera’s “native” sensitivity and the one giving the lowest amount of noise.
Usually, shoot in Aperture-priority, unless you are shooting action-oriented shots needing a fast shutter speed.
Decide if you want the subject AND the background in focus, or ONLY the subject in focus. If the former, choose a high f/stop value like F/11, F/16, or F/22. If the latter, choose a low f/stop value such as 2.0, 2.8, or 4.0. Say you’re following Pierre’s advice and you set your F/stop on your 55-200mm lens on 4.0 (which happens to be the lowest f/stop of your lens).
Zoom in or out until you got the framing you want. Let’s assume for the purpose of this exercise that you were at 100mm.
Take a meter reading of your intended scene using the normal pattern. Do not do any exposure compensation (yet). The camera will give you a suggested shutter speed. Since it was bright, but not sunny enough to throw shadows, you’d probably have a speed of 1/500. With a focal length of 100mm on a crop body, you can probably handhold without visible camera shake down to 1/125 sec. so this speed is above that, and you don’t need to use a tripod.
Now do you need exposure compensation? Your scene is overall “average”, so probably not. If the scene was mostly bright or white, then your camera would underexpose (because it is programmed to see everything as 18% grey), and to compensate you would need to dial in an exposure compensation of maybe 1 stop more. If the scene was mostly dark, then the camera would overexpose and to compensate you would need to dial in an exposure compensation of (say) – 1 stop.
In your case, you told your camera to underexpose by 1 stop (which is why the images were dark), and you used a very high ISO rating (which is why you got camera noise). The lens hood had nothing to do with the darkness of the image.
Using a tripod would be appropriate IF the shutter speed you were getting was below the limit for hand-held shots. This is usually the reciprocal of the focal length you are using, multiplied by the crop factor. So, if you had your lens set to 100mm, on a 1.5x crop body, your lowest shutter speed for hand-held shots would be 1/150 sec. If you had the lens extended to 200mm, the minimum speed would be 1/300 sec.
Now, say you couldn’t use a tripod, and at ISO 100 and F/4.0 you were getting a reading of 1/30 sec. and you wanted to shoot at 200mm. This means you need a minimum shutter speed of 1/300 sec. Your only option here becomes boosting the ISO by 3 ½ stops to ISO 1200. Or use a flash is the subject is close enough.
Piece o cake! (just kidding. It take a while before all of this sinks in and becomes almost automatic. For really good photographers, it does become instinctive).