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I'd only recommend using voltage as a control for charging. For discharging, I'd recommend counting the amp hours out of the battery. The reason being is charging is very consistent. You charge at say 10A every time you plug in. When discharging, the load is not consistent. When you get a high load, your voltage sags. When the load lightens, the voltage comes back up. Thus, you never really know what your state of charge is while discharging from looking at voltage. Lithium cells make this even worse due to their very flat discharge voltage pattern. The best way I know of is to look at how many amp hours you've pulled out of the pack.
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