My general rule of thumb:
10% as a minimum (ie: the order was correct, got drinks somewhat punctually)
About 15% if the service is good.
20% or more if it's outstanding.
0% if the service is atrocious. But usually has to be pretty bad for that.
I've always been of the mindset of 'don't go out to eat if you can't afford an extra 10%'.
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