Section 4 - At the Events has a list of site restrictions, which are as follows:
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Originally Posted by FIRST
http://frc-manual.usfirst.org/viewItem/6#4.15
4.15 Site Restrictions
Please read the following common site restrictions and adhere to them in order to promote an orderly, safe, pleasant and exciting competition. Please refer to Section 4.2 of this manual section for additional site restrictions at your event.
Do not bring food to the site. If you bring food, do not bring it onto the property.
Do not use noisy devices, such as floor stompers, whistles and/or air horns.
Do not arrange for Internet access or phone lines on the site or attempt to connect to the Internet.
Do not sell any products. This includes food, hats, shirts or any promotional products.
Do not distribute any food products, such as candy, water, soft drinks or fruit.
Do not sell raffle tickets.
Do not bring bottled gas tanks (e.g. helium). This is a safety concern.
Do not use walkie-talkies.
Do not invite or bring live bands to play in the audience. This dilutes the presentation on the playing field and is too loud and confusing for the audience.
Do not play loud music in the Pit because it interferes with important announcements. If a team receives more than a warning or two, the power to the team pit will be shut off and/or the music confiscated.
Do not form "tunnels" during the Awards Ceremony. This can cause discomfort to those traveling through them and creates safety issues.
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(Emphasis mine)
I'd imagine that if you're using this beeper for a short period of time that it would be okay, as long as it does not interfere with pit admin announcements.