Imagine your battery to be a bucket of water with a spout at the bottom. The voltage of the battery is analogous to the pressure at the spout. The amount of water is analogous to the percentage charge of the battery. To measure how much water is left, we can look at the pressure at the spout (voltage) and the flow of water coming out (current). We might ask: how long can the bucket sustain the flow of water at a certain pressure, and by calculating this, knowing the flow and pressure, we can determine the percentage of battery left.
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