I don't think you are cheap at all. Waiter sure a hell will make sure $1 bills are with the next guests check, or he will just hope that the 9 out of 10 people leave the $5 bill and play the odds.
I work in sales and if I don't do my job I get absolutely nothing. I get paid off of my own effort and damn sure guarantee that I put 100% in at all times. I have no one to blame but myself.
The waiter can depend on the kitchen and bar tenders, but I don't base tips off of that. If they are not friendly and make sure that I have everything I need within reason, you don't deserve 20%. Good tips are for above and beyond service.
Call me cheap, I don't care. I have given plenty of outstanding tips for great service, but have also given no tips when I leave pissed off. If the server doesn't like it, step the fuck up or go get a job with a salary you think you deserve.