Calculate how much battery power left
You really need to know the current being drawn rather than the instantaneous voltage. A voltage drop profile of a battery changes depending on the current draw, and just using the voltage is very very hard indeed.

You could measure the voltage over time, and try and calculate the slope of the voltage and attempt to predict when it would reach a specific pre-determined cut-off point, but since that change in voltage will be non-linear it's not really something that can easily be calculated.

But, if you can measure the current instead, and you know the Ah of the battery, then you can get a better estimate of how long the battery will run until it's considered flat.