I've learned this from my ornery late grand-FIL. He said all waiters start off with 1 cent tip and they then have to work their way up. I have left a cent tip and I've also left a 100% tip on a fairly robust bill. Given that in the US, the restaurateurs pass on their obligation to pay their waitstaff a living wage on to the patrons, I do tack in minimum tip of 20% normally for a satisfactory service. I'll go up from there. I only go down to the 1c for truly atrocious service and if I do not plan on returning to the restaurant. I also leave a comment was to why I was so harsh (I do the same for great sevice).
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