Batteries produce a differing amount of voltage depending on how charged they are. And most devices that use batteries have device in them that either increases or lowers the voltage. Usually to either 5 or 3.3, this is why it can take a second for a device to power down when you remove the batteries when it’s still active.
But if you have a device that reads the change in voltage straight from the battery, you can make a rough estimate of how dead the battery is.
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