Characteristically, a beep is a single tone that has a simplistic waveform, usually a sine wave or square wave. These types of audio signals are really easy to generate with super super basic hardware (think 1 or may be 2 transistors max, plus a few resistors and a capacitor) and so they’ve been used for decades in electronics, for signalling things like errors (a beep is hard to ignore) or things like button presses.
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