Present ability: can / can't

FormExample
can + infinitiveShe can speak four languages.
can't + infinitiveI can't see the board from here.
Can + subject + infinitive?Can you drive?
CAN for typical behaviour: Can also describes what someone typically does: "John can be quite rude at times." (= he sometimes is rude)

Past ability: could vs was/were able to

FormUseExample
could General ability in the past (over time) When I was young, I could run very fast.
could Ability with perception verbs (see, hear, feel, smell) I could see the mountains from my window.
was / were able to Managed to do on one specific occasion The fire was serious, but the firefighters were able to save everyone.
couldn't / wasn't able to Inability (both work for general & specific) I couldn't find a taxi anywhere.
He could play chess as a child. (general)
The match was difficult, but she was able to win in the end. (one occasion)
✓ Both: "I couldn't / wasn't able to sleep last night."

Special uses

ExpressionMeaning & Example
can't help + -ing Unable to stop yourself doing something
I can't help laughing — the joke was so funny!
couldn't help + -ing Same, in the past
She couldn't help crying at the end of the film.
could + infinitive (conditional) Polite suggestion or request
We could go to the cinema tonight.

Exercises

could or was/were able to?

1. When I was ten, I ___ swim across the whole pool.

2. The exam was really hard, but she ___ pass in the end.

3. From my bedroom I ___ hear the traffic outside.

4. The road was blocked, but we ___ find another route.