Should you tip at a coffee shop?

Seems like everywhere has the standard option to tip once you swipe your card. I rarely get coffee from cc’s or Starbucks but today I had some time to waste and went. It had me thinking for a nearly $6.16 to be exact cup of coffee should you really need to tip for that? When going out to eat I typically tip 20% so I’m not against tipping just wondering what the norm is at a coffee shop.