Why won't my Whirlpool WFW9150WW01 Duet washer won't spin or drain?

My Whirlpool WFW9150WW01 Duet washer recently has been making grinding noises as it went to spin, especially during the spin cycle. Then today when running a load of towels, the washer stopped in the middle of the cycle. There was still water in the drum and I had to put a bucket under the door to catch the water because even when I tried to put on a spin and rinse cycle, the washer started to beep and not run. I would rather not call a repairman, so does anyone know what might be wrong and what I would need to get and do to fix this?