I never bother with restaurants that have mandatory tips on their checks, its a flat out markup and does not let me decide if the service is good or not. I do think many people suffer tip fatigue as the use of tip jars has become offensive to many, especially in the quick serve food industries.
http://www.dol.gov/whd/state/tipped.htm
#Note. The left-most column is the important one.
Even with generous minimum wages, tip culture has crept into Western Europe pretty rapidly. It's more than just a wage technicality that has to change to overcome or dismantle the established tipping culture.
I really, really like the idea of being able to just get up and walk out of a restaurant or bar without having to deal with money though. That said, so long as tips remain expected you're going to come across as a jerk if you don't leave something and it'll likely be remembered for the next time you visit.
If your just trying to be pedantic, then yes it's technically required for employers to make up the difference. But in practice, restaurants typically fire anyone who presses the issue.
So in practice, all states don't enforce employers making up the difference.
If people stop tipping, restaurants would be forced to increase wages, because nobody is going to work for $3/hour.