its not bad if you need to go to 0% or 100%. that's only bad for the battery if you go from 100 % to 0% to 100 % etc on a daily basis. that's a full cycle. two half cycles are better than one full cycle. aka 75% to 25% to 75% to 25% to 75%. Four quarter cycles are better than two half cycles. and so on. theoretically the battery could last forever under ideal circumstances (I guess something like 51% to 49%, lol). but that's not practical. there's really a few basic "guidelines" to stick to. And I say "guidelines" as opposed to "rules" because it's not bad when you need to break away from your daily charging pattern for a long trip or something.
1) as previously stated by others above, try to keep above 20% and below 80-90%.
2) charge as frequently as possible. even little errands you run. plug back in each time you get home. (keeping the charge cycles as shallow as possible)
3) try to keep the "average" charge around 50%. by this I mean if you only need to use 60% of your battery on a daily basis, then keep your charging pattern to 80% to 20%. if you only need to use 20% on a daily basis, then charge to 60% (arriving at work at 50%), drive home and arrive home at 40% and then charge back up to 60%. aka keeping that average at 50%.
if you need to charge to 100%, go ahead and don't worry about it. if you need to go all the way down to 0-5%, again go ahead and don't worry about it. just don't make that part of your daily driving pattern. probably the worst thing you could intentionally do to your battery is charge it to 100% and leave it baking in the sun. if you need to go to 100%, just time your charge such that it completes right at the time you are leaving so that it only stays at 100% for a few minutes. really that's the best we can do. I have 50k miles on my MS showing 257 at 100% charge using this charge cycle pattern.