Is / was are used to talk about "state" to describe something . not about action. for example she is nice. being nice is a kind of "state" kind of "being" . action or movement is not involved.
do/did are used to talk about action verbs which involve movements and action.
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We use 'was' when it is 'past tense'.
What 'was' that thing that went past us? (past tense).
What 'is' that thing on the ground? (present tense).
What do I do yesterday? ('do' indicates present tense, 'yesterday' is past tense).
What have I did tomorrow? ('did' indicates past tense, 'tomorrow' is future tense).
Here's one for comparison:
What will I do yesterday if tomorrow I can't have did it.
Someone passes you on the street who you saw yesterday -
Was that the person we saw yesterday?
Is that the dog we saw earlier today?
Do you want to go shopping today?
Did you go shopping yesterday?
There aren't any specific times when you use do or did. It all depends on the question. You could say - Are you going shopping today?
Or
Shall we go shopping today?
Is / was are used to talk about "state" to describe something . not about action. for example she is nice. being nice is a kind of "state" kind of "being" . action or movement is not involved.
do/did are used to talk about action verbs which involve movements and action.