does your washer have the steamer? if so i believe the problem is in the analog pressure switch, it is item #20 on this page whirlpool parts list
real easy part change. unplug washer, take the 3 7mm screws out of the back to the top panel. slide the top to the back of the washer and the pressure switch is usually black and about the size of a pack of gum. it will have a thin hose connected to the bottom of it.