Form and rules
How it works
Use can for present general ability and could for general past ability.
Use be able to when English needs an infinitive, perfect or future form: to be able to, have been able to, will be able to.
For one successful action in a particular past situation, was/were able to or managed to is often clearer than could.
Could is natural for general skills in the past: I could swim when I was five.
Couldn't can describe both general past inability and failure in a specific situation.