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Nicad batteries used to have to be drained before charging or they'd crystalize and develop what everyone called a memory effect, where the battery would only discharge to the point it which it was last charged.
No other battery chemistry has this problem. Nicads are still used in certain high-drain situations like power tools but almost no-where else. The advice quoted by the the OP doesn't apply to lithium ion batteries.
Battery University, quoted above, has been posting updated battery information for decades and has an excellent record for reliability.
Barry
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