Yes you can, but you MAY not. You should ask "Please may I have..."
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This took me all the way back to grammar school. There was a constant shortage of chairs... except for one classroom which always had it's full complement of seats, guarded by the resident form master.
Knock on door: "Please, sir, can I borrow a chair?"
"Yes"
A moment later: "where do you think you're going with that chair?"
"You said I could borrow a chair sir"
"Yes I did"
A second later:
"Stop! Put that chair back. I said you
could borrow a chair. I did not say you
may borrow it".
Light eventually dawns " Please, sir
MAY I borrow a chair?"
"No. Now get out of my classroom and stop wasting my time"