Charge the battery fully, however, you should take it off the charger when it is fully charged.
as for how often to recharge, that depends on the battery type:
LiIon batteries can be recharged whenever it is convenient. Avoid fully discharging them, that shortens their life.
NiCad prefers full cycles, that is, full charge and full discharge cycles. Repeated partial discharges and recharges can cause a decrease in capacity that is termed "memory effect" (it "memorizes" a reduced capacity).
NiMH resists the "memory effect", they can be recharged frequently. Avoid fully discharging them. They will last longest if you can keep them between 90% and 40% of full charge - but that's difficult to do with small devices and simple standard chargers.
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