Well, I think it depends on what you think is better. Recharging the iPod when the there's no power left all, all the way to the max, really just verifies that you just used a complete charge cycle. I personally don't use my iPod much on the road, more on my iBeam, which charges my iPod while playing music. So I charge my iPod every time. I don't personally think it really makes a difference. So all the rare moments when I actually use my iPod eventually adds up to the same as using it 'till death do use part. I've had my iPod since January and I use it a lot, but I've probably gone through like 2 charge cycles.
iBook G4 14'' Mac OS X (10.4.9) 2nd Gen 4GB iPod Nano