Why can I not just limit the voltage to 14.2volts and the current to a 20th of the battery capacity right from the beginning? Then I don't have to change a thing? For the bulk charge it will charge at 300mA at 14.2volts and the topping charge will charge at 14.2volts at 300mA? Why can this not be done?
That is
precisely what you (need to) do! And how it is virtually always done in practice, no more complex than that.
Actually, I would make it a little lower, 14 or 13.8V, but a current limit to about a tenth of the AH capacity
plus that required continuously by your circuit.
One other trick - you have to arrange your charging circuit such that there is no "back-feed" through the regulator when the mains fails - generally as simple as a diode, but the voltage drop of that diode needs to be factored into the regulated voltage.