What sort of batteries are they? Many power tools sold for domestic use use NiMH batteries, that do benefit from a full discharge/recharge occasionally. They also have the shortest life, and will deteriorate after 500 cycles, and be pretty dead by 1000. But they might be NiCad, which last a lot longer, and need a full discharge/recharge about every 30 cycles. No need to discharge them fully every time, but if you do, charge them up again.
If you've paid out for Li-Ion then you shouldn't discharge them fully. It's difficult, because my experience of these (I have only one drill that uses them) is that they go flat quite suddenly, whereas the nickel based batteries tend to run down with noticeable loss of power. Anyway, charge them as soon as they falter or stop, and certainly don't deliberately run them flat.