Generally, my boyfriend and I don't tip. If the service is spectacular, maybe, but it never is. We refuse to participate in the nonsense that is north american tipping culture.
We live in Canada, so servers don't make $2/hr. I think the minimum wage for servers is around $10/hr, which is plenty.
I think the whole concept is ridiculous. I've worked various minimum wage jobs that were a hell of a lot harder than serving, like hand weeding a field on an organic farm and unloading trailers in warehouses. My boyfriend has worked as a cashier in grocery stores, and cleaning up stadiums after concerts. For some arbitrary reason, society has decided that those things are not tipped, and other things are.
Basically, it comes down to: it's your boss's job to pay you, not mine. I won't pay you just to do your job.