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They can play the piano They will be able to play the piano in the future

You must come early You had to come early yesterday

3.0 What do they express?

They can have more than one meaning depending on the situations.

Single Concept Modal: they have one meaning

Double Concept Modal: they have two meanings

Modals in past: They are used to express a situation in the past

4.0 Categories of the modal verbs.

Single concept modal Double concept modal Modals in the past

Will May Would have

Might Must Could have

Should Would Might have

Had better Shall Should have

Ought to Could May have

Can Must have

Single Concept Modal

The modal verbs only have one meaning.