Is it bad if I took off my iPhone from charging if it is not 100% yet?

I have to leave for work soon, but it is on 81% now

No. Also, it's best to start charging it if its below 50%

Dude i say its fine it takes a matter of minutes if not seconds to loose one percent of battery and mine is never charged beyond 80% anyways

No, it is not bad. IPhone has a lithium ion battery, which does not have the same issues as NiCad or NiMH batteries with regard to incomplete charging.

At least once a month, though, fully charge to 100% and then let it run all the way down to 0% before charging again. This maximizes the lifespan of the battery.

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