The modal verbs of ability show just that -- ability. Ability can be expressed in the past, present, or future.

It can be an ability that was used over and over again, or something that was done just once, on a special, or rare, occasion. The modal verbs of ability are can, could, and be able to. Can is used to talk about ability in the present or future. He can read well. Could is used to talk about ability in the past. He could read well when he was younger. Be able to is used to talk about a certain, or particular, ability. He was able to read when he was 4 years old.

** While could might be used in the last example, be able to emphasizes the
early age at which he could read. Could have, followed by a past participle indicates an ability NOT used and often shows disapproval. He could have called me! (He didn't) Could not have followed by a past participle indicates that an ability didn't exist in the past. I couldn't have phoned you yesterday, because I lost my phone last week. Be able to is used with other modals or when forming the 'ing' or 'to' infinitive forms. You will have the satisfaction of being able to read my report. Nobody will be able to read what you have written. We use can or could with the senses verbs; see, hear, smell, etc., to say that someone is aware of something through their senses. I can smell gas downstairs. I could see a few stars in the sky last night. I couldn't hear what she said because of the noise.