If I go into a restaurant and order a meal that costs $24 and I got exceptional service, and the staff was paid a realistic wage, I would not mind.
What I do mind is I go into a restaurant and order a meal that costs $20 and get scolded by staff because I didn't pay more than I should have, just to justify their reasons for having low paying jobs.
Don't give me a fucking sob story about how you're a full time student, work 2 full time jobs, and raise a kid all by yourself, I don't fucking care. I work for my money and I don't get tipped by my clients for doing what they are paying me to do.
Best way to get a tip? Do your fucking job and don't even give a fuck about the tip. Guy orders $150 meal and leaves a $5 tip, or orders a $10 meal and leaves a $15 tip... Just be happy someone went out of their way and paid more for their meal than they are required to.
It's when the self-entitlement kicks in and the staff basically requires the tip or you get dissatisfying service is when I start going somewhere else, and that's not gonna work out well for the restaurant, so not only are these people not getting tips, but they're also on the verge of losing their jobs due to either restaurant closing down due to lack of business, or hours being cut.