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All you'll do by undercharging a cheap battery is ruin it. Follow the instructions to the letter when charging. Ni-Cad batteries will develop 'cell memory' if undercharged or recharged when not fully drained and never be able to hold a full charge after that. Ideally, you should totally discharge a Ni-Cad before recharging it. And always fully charge it every time.
And your best bet would be to get rid of the wall wart charger and get yourself a decent battery charger.
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