There are three main uses of "can", "could", and "must" discussed in the document:
1) "Can" and "could" are used to talk about ability in the present and past, such as talking about what someone is able to do now or was able to do in the past.
2) "Must" is used to talk about obligation or necessity, such as requiring something be done.
3) "Can", "could", and "may" are used when asking or giving permission to do something, with "can" being informal and "could" and "may" being more formal ways to ask or give permission.