1. We use can to say that something is possible or allowed, or that somebody has the ability to do something. We use can + infinitive (can do / can see etc.).
The negative is can't (= cannot)
2. You can say that somebody is able to do something, but can is more usual.
3. Could
Sometimes could is the past of can. We use could especially with: see, hear, smell, taste, feel, remember, understand.
We also use could to say that somebody had the general ability or permission to do something.
4. Could and was able to
We use could for general ability. But if you want to say that somebody did something in a specific situation, use was/were able to or manage to (not could).
5. The negative couldn't (could not) is possible in all situations.
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