Can Vs.

Be Able to

Since can is a modal verb, it is not “complete” in all its forms. This verb lacks...
...an infinitive form: You have to can control your kid.
...a gerund form: He is good at canning solve problems.
...a participle form: She has can improved her French.
...a future form: I won't can see you tomorrow.

In those cases, can must be replaced by be able to or manage

You have to be able to control your kid / You have to manage to control your kid.
He is good at being able to fix problems / He is good at managing to fix problems
She has been able to improve her golf / She has managed to improve her golf.
I won't be able to see you tomorrow / I won't manage to see you tomorrow.

Can has....
… a conditional form: could (would + can) Could you open the window, please?
… a past form: could.

The past form could is used to talk only about past habits, that is to say, actions that were
possible to perform over a long period of time, not only once:

When I was a kid, I could swim very well. (long period, not one occasion)

But if we are referring to actions that were possible only on one specific occasion, then we
must use was/were able to. (manage to or succeed in are also possible)

Susan studied a lot, and she was able to pass her final exam. (one occasion)
Susan studied a lot, and she managed to pass her final exam.
Susan studied a lot, and she succeeded in passing her final exam.

However, when talking about negative actions, both couldn't and wasn't / weren't able to
can be used.

Unfortunately, the police were not able to arrive on time

Unfortunately, the police couldn't arrive on time.