Maytag Atlantis won't rinse

Hello,
Our Maytag Atlantis washer, MAV7600awq, fills with water, agitates, but won’t enter the rinse or spin cycles. It just continues to agitate during the time it should be rinsing. We can manually make it spin to eject the water, but it’s still sudsy. I replaced the timer yesterday and that did not fix the problem. One other clue, if I happen to be watching at the moment it should be entering the Spin cycle, if I lift the lid and put it back down, it will start the Spin cycle. That trick doesn’t work on the Rinse cycle. Anyone know what the problem could be? Thanks.
-Chris in Milwaukee