Well, I've found no official answer, but I assumed it was ok and nothing terrible has happened yet. That is, I can turn the robot on with the charger plugged in, do some stuff, then unplug the charger with no interruption to operation. I still can't guarantee this isn't bad for the battery or something, but it seems to work fine. I'm not sure about the micro-usb power though. I haven't tried that again. I don't think it provided quite enough power for opencr and motors, etc. though, since I had issues the one time I tried it. So
Yes (probably) - No
Edit: Just came across this:
Can I Charge the Battery when the Battery is Connected to TurtleBot3?
Charging and discharging the battery at the same is NOT recommended and this may void the warranty of the product. If TurtleBot3 needs to be turned on while charging/replacing battery, please follow below procedure:
Connect SMPS 12V 5A to OpenCR
Disconnect the depleted battery from OpenCR
Connect the depleted battery to battery charger or replace the depleted battery with a fully charged battery
Connect the fully charged battery to OpenCR
Disconnect SMPS 12V 5A from OpenCR
