necessity	necessity
 	 	   	permission	 	
present 	must* 
 	**have to	don't have to 
don't need to 	should 
ought to 
is / are supposed to 	shouldn't 
is / are not supposed to *** 	can 
is / are allowed to 	mustn't 
can't 
isn't / aren't allowed to 	
past 	had to 
	had to	didn't have to 
didn't need to 
needn't have 	should have 
were / was supposed to 	shouldn't have 
was / wasn't supposed to 	could 

was / were allowed to 	wasn't /weren't allowed to 	
future 	will have to 	will have to	won't have to 
won't need to 			will be able to 	won't be able to 	

* 'Must' and 'mustn't' can easily sound over-authoritative and rude if used in the wrong situations. It is commonly used to express obligation to yourself or to a child. Otherwise, it can be softened by adding 'really' and explaining the importance of the rule etc. 

** 'Have to' is commonly used for expressing 'third party obligation' - i.e. obligation that does not come directly from the speaker. For example, when you are explaining rules that you have not made yourself. 'You have to get a visa if you want to go to Russia'. 

*** 'Supposed to / not supposed to' in the present can express a rule that is important or a rule that is often disregarded depending on how the statement is made: 'You are not supposed to cross the road except at pedestrian crossings'. (It isn't important. The point is, many people break this rule and the police rarely enforce it.) 
On the other hand, you can use 'supposed to' as a softer alternative to 'must / mustn't' when someone is breaking a rule that is important. ' I'm afraid you're not supposed to talk in here'. (It is important.)