Good rule.
If you do not tip a tipped employee then the worst case for the employee is they earn a full minimum wage, and the restaurant has to pay a full minimum wage with no tip credit.
Restaurants are pushing the "customary" part to the limit. I went one place where we had to order by kiosk with no employee to greet us and answer questions. The last part of the order dialog was the tip amount for the order. By pushing customary they will expand the types of tipped employee allowing them to pay less than minimum wage and take the tip credit.
I was a waiter, I support the tip system, but not in the direction it is going. If you order standing up, no tip.
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