I do want to make this clear: you can't substitute past simple for present perfect (I see many students who try). However, the criteria is pretty simple for deciding which to use. :)
Are you talking about the past? Use past simple (ha! obviously).
Are you talking about the present situation? Use present perfect.
Present perfect uses a past event to describe, explain, or connect to the present situation. "I haven't eaten breakfast" explains why you are hungry now. "I didn't eat breakfast" tells me nothing about now. Perhaps you ate something a little later.
When you use past simple, you are telling me that the event is done, finished and has no effect on the current situation. You also need to indicate when this past event happened.
When you use present perfect, you are telling me that the past event has some effect on the present. You don't give a time of when the event happened, because that is irrelevant. The time you give is in the word "have": now.