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Try replacing the lid switch. Mine did the same thing. It is the piece that gets pushed down when you clothes the lid. The u shaped piece of mine is plastic and was cracked in 2 places on a closer...

My Whirlpool will fill and agitate then stall before it drains and spins. It is so frustrating to go switch clothes to the dryer and the washer is still full of water. This happens most of the time...