Cleaner steps for register, unregister, getRegistration

* Less verbose, no need to refer to resolver.
* Use DOMException, not DOMError.
* It's not ok to reject a promise without arguments, always provide a DOMException.
* Resolve unregister promise with PushRegistration.

For more background details see the Promises Guide:
https://github.com/w3ctag/promises-guide

This fixes issue #4.
I think it's fair to link to larger algorithms to avoid repeating them, but this would link to just the last 3 steps of getRegistration. Adding that indirection in two places does not seem helpful for 3 steps.