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The chapter 1. The main usages of the modal auxiliary verb

One modal auxiliary has some meanings, and some modal auxiliaries have the same meanings. But the modal auxiliary has the subjectiveness or the objectiveness, the meanings are acutually different.
This text explained them with the subjectiveness and the objectiveness which were explained in 0.2.

1. can ( objectiveness )
The meanings of "can" are three, see the following.

a. ability ( objective meaning )
b. permission ( objective meaning )
c. possibility ( objectiveness - subjective meaning )

The past tense "could" expresses the meaning as the habitualness and is used in the negative sentence. For example, the ability of "could" does not usually express the actual act, but it can be used as the habitual meaning.

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