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Meaning of "can"

"Can" means:

abilities, physical or intellectual (I can speak German. You can run fast.)
that someone has a possibility to do something (I can help you. He can call a cab.)

When we ask someone to do something,

with the verb can our request sounds informal (Can you come here now? Can you close the door?)
with the verb could it becomes more polite and formal (Could you send me your price list? Could you wait for me, please?)