My Roper top loader stopped spinning during the regular or permanent press cycles the clothes remain wet at the end of the cycles, if I go back and set the dial to spin it works OK spinning draining the water.
This machine is 3 years old, why does this machine not spin during a full cycle but when I go back after cycle completes and set the dial to spin it works fine?

It could be several things, one being the timer. You need to check it out with a meter before changing any parts. Here are the manuals you need: (Whirlpool makes Roper)
https://dl.dropboxusercontent.com/u/8010163/Whirlpool-Kenmore%20washers.zip
https://dl.dropboxusercontent.com/u/8010163/Whirlpool%20Washers.zip
https://dl.dropboxusercontent.com/u/8010163/Understanding%20automatic%20washer.pdf
https://dl.dropboxusercontent.com/u/8010163/How%20to%20use%20Test%20Equipment%20Service%20Manu al.pdf
You have to check it out with a meter before changing parts. It could be a simple fix like a bad connection.

If it's a bad connection at the timer why does it always work if I set the timer back to spin mode?

Could be a bad connection affecting the timer motor, or sticking gears, or motor, or needs oil in gears.