Anyhow, I realized that I've been using all kinds of verb forms but haven't explained them, so here it goes:
The basic verb form that I've been using (the one my textbook teaches first!) is the present tense polite/neutral affirmative tense. This is the tense I've been listing my vocabulary in, and they all end in -masu.
For example:
oyogimasu - swim
kaimasu - buy
kaerimasu - go/come back
(Also, though I've been listing them in infinitive form, this is not actually how they translate, it's just for my own purposes so I know that they're verbs, not nouns. Like, is 'nomimasu' a verb or a noun? If I listed it just as 'drink' I might get confused. Well, not now that I know that -masu is a verb ending. But still.)
To make this into negative form (still polite/neutral and present tense), you change the -masu ending to -masen.
For example:
ikimasen - do not go
kimasen - do not come
tabemasen - do not eat
To change your verbs into past tense (polite/neutral and affirmative), you change the -masu ending to -mashita:
kimashita - bought
ikimashita - went
kaerimashita - returned/came back
The verb ending -mashoo indicates 'let's'.
For example:
tabemashoo - let's eat
Oosaka e ikimashoo. - Let's go to Osaka.
Ocha o nomimashoo - Let's drink tea.
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