Non-finite verb forms do not have endings which agree with the subject and do not change for tense. All other verb forms are finite. Finite verbs have endings which agree with the subject of the verb for person and number . 3rd person 3rd pers. Voice indicates the perspective of an event which is being adopted by the speaker.
Tenses give some indication of time.
Some languages have further subdivisions within each of these categories. The indicative mood is the most general mood. It is used to make statements, ask questions, etc. The subjunctive mood is something we are not particularly aware of in English. If I was you , and this is a subjunctive.