I have noticed from a drone (of a friend of mine) it has a feature that lets its motors beep so when it gets lost it can be easily found. I have some searching and this seems to be done by alternating turning forward and backward quickly enough for the motors not be able to spin.
I would hopefully like to exploit this characteristic as maybe a feedback to the user for example a button is pressed and the motors would beep, this would mean that I do not need a piezo speaker.
But will this cause some damage to the motor or motor driver? My intuition is telling me it does, but on some commercial products (drones) or high performance robots (the one used in competitions) I often hear these beeps.