I tipped one penny
Why would you tip such a small amount?
I want to make the server hate their job. Besides, it's about tipping if the customer is satisfied.
You should tip your servers a reasonable amount. Servers work had and get paid very little, it is expected that you will conform to social norms and tip them. You should do so next time.
What if I don't want to?
A lot of servers depend on tips to make a living. By not tipping for no reason, you are directly hurting your server just to be rude.