Has anyone figured out how to reverse the battery memory so it uses the whole battery? Sometimes when you use a battery 1/2 way and then recharge it will only recharge 1/2 way, etc. Is there a way to do something to fix this?

Use a Lithium-Ion battery. The older rechargable batteries had to be fully drained before you could recharge them.

like he said, it depends on your type of battery that you use. ni-cd batteries have to be fully drained from what i remember... mi-mh batteries might have a similar memory pattern as well. but the lithium ion batters do not carry these traits.