Charging rule of thum is not to exceed 1C of the overall Mah when charging
So, if you have a pack of cells that are 6000Mah then you would only make charge at 6amps
I do know though that some manufacturers now though do say cells can be charged at higher rates than this though so check the document that came with your cells.
Personally I keep it to 1C so as to prolong the life of the cells.
Balancing is similar to the old days of Nicad and Nimh cells. Effectively if you have more than one cell one might hit full charge before the other. You effectively then 'over charge' this cell while the other comes up to full charge. this is no good.
Balancing does just that, it (depending on the tech used) will either stop the cell from charging that has reached peak, or to actually discharge the cell. this means as the pack completes charge both cells should be to (within tollerance) the same voltage and capacity of charge.
Personally I balance charge every time, though some will say not all the time is necessary. I do know though having done this I still have 2 packs of cells that hold a 8.4v charge at peak that are now getting on for 4 years old !
Finally yes, charge between rounds. You may not take everything out the battery, but after a few runs it will be close to being flat, and LiPo do not like being run to flat at all. I would get yourself a decent Lipo charger that has a balance port or lead, of which many are on the market at decent prices too.
Hope that helps
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