How many types of infinitives are there in spanish

Okay so i'm taking an online spanish course (penn foster), and in the study guide, you have to create a bunch of sentences with words you've learned so far. translating, reading, and those kinds of things are fairly easy, but when it comes to making my own sentences, my brain just kinda waltz's away. anyone got any tips?

The teacher didn't explain this at all and i don't understand this

Match the sentences with the missing verb. drag the items on the left to the correct location on the right. correct pide correct puedo correct piensa correct pedimos correct piensan correct piensas nosotros siempre una bebida en el restaurante. ellos viajar a istanbul por su aniversario. yo no salir mañana por la noche. tú siempre que ella está loca. ella tu opinión sobre la clase de español. ¿elena lo mismo que yo?