Hello xteamjc and welcome.
PSA would seem low for cancer but as Barry says in needs investigating given the other symptoms.
There should not be any blood in the semen (unless it follows biopsy etc) so that at the very least needs looking into.
Please get it seen to. On the other hand do not assume that all of these symptoms are definitely cancer.
No point looking for trouble or worrying un-necessarily about what MIGHT be.
Keep us posted on what happens.
There are many on here who will give advice once we know what the situation is.
All the best
Sandra