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Originally Posted by KenWittlief
...Measuring the voltage with a load applied does give you a good indication of where you are on the discharge curve...
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That presupposes that you know what the discharge curve looks like for that specific battery (with that specific load, at that specific temperature, etc.).
You can come close to measuring how much energy is left in a battery by looking at the voltage under load, but only if you have already well characterized that battery's behavior in advance. Devices such as the CBA-II can do that characterization unattended.