Making grinding noises on sensing

Yesterday put clothes in washer and pushed start and left the room. came back and hour later and it was on sensing still and making a grinding noise. there was water in the tub but nothing else was happening. I did a diagnostic test and it came back with sensing light, rinse, done lights on first and second was just the done light which i looked up and it gave me a code of f5e1. but why is it stuck on sensing and making those noises and it won’t do nothing else. none of the other actions would work. the drain and spin wouldn’t work either. had to manually get the water out of the tub. can someone help with this.