I see tipping as the opposite (and wage laws make it easier). Unlike most professions, there's no asking for a raise each year to keep up with inflation or reward your progress at getting better at your job. It's immediate feedback and compensation for doing a better job. Not leaving a tip signals that you would have been better off not being served by them. If a person whose main income is from tips (and gets the 2.xx/hour wage because of it), they declare and are taxed on their tips. If they don't make enough in tips in a pay period to receive the prevailing minimum wage (i think 7.xx/hour, but I don't remember for sure), the business is required to pay them minimum wage. If someone yells at you for not tipping them, just ask to talk to the manager, explain why they didn't deserve a tip (based on their service) and the fact that they berated you for it. Nearly every time they will be fired on the spot (or at the end of their shift) because it's the same as saying the business expects you to pay for crappy service.
Better than no tip is the one-cent tip. No tip may be someone forgetting; one cent makes the point clear.
To be clear myself, in ~15 years of being the paying party I have done this precisely once, so I'm not advocating making a habit out of it. I'm just saying, it makes the point that much more.