Can: for ability, only in present tense, shorter and less formal in speaking, used often, not used for future or perfect tenses, used with sensing verbs in present: see, hear, smell, feel and taste, Could: for ability, only in past tense, only when speaking in general in the past, negative form used in the past for specific situations and general abilities, used with sensing verbs in past: see, hear, smell, feel, taste, Be able to: not used in the continuous form, more formal when speaking, not used as much, when speaking about something specific in the past, used in future & perfect tenses. + have/has, + will/going to, used after modals (might, should, may) ,

Modals for ability

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