The past and future tenses of the modal auxiliaries can, must (in the meaning of obligation) and may (in the meaning of permission) are expressed via the following expressions:
CAN = be able to + verb
She will be able to do it tomorrow.
They were not able to come.
Will you be able to bring it next week?
MUST = have to + verb
We will not have to go there.
I had to buy new curtains.
Did you have to go there?
MAY = be allowed to + verb
We are allowed to stay out until 8 p.m.
Will we be allowed to go to the cinema?
They were not allowed to buy anything.
Note:
These expressions can be also used in the present tense.
I am able to win the tournament.
Is he allowed to buy a dog?
You have to send the letter today.
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