F51 code = RPS sensor. Washer would not agitate or spin.
Water on floor = leaking washer seal on driveshaft
Loud noise during spin cycle = drive shaft bearing failure
Used APP on line parts, diagnostics, and DIY repair videos to obtain parts and effect repairs = Happy Wife and Happy Husband
If you are not into DIY the bearing replacement will stress you out. You need a bearing press to properly replace the upper and lower bearings. on to the next project!