My phone is stuck in downloading mode after installing TWRP

Hi everyone,
Sorry to bother you with this. I recently purchased a Samsung Note 4 (less than a month ago). I successfully rooted it and it worked fine. But today I was incredibly stupid and I tried to install TWRP on my phone. I followed the instructions on this site (which I can't link because I am a new user) and tried to install TWRP using flashify. However, something went wrong and now when I reboot my phone it goes into downloading mode with a green android and text that says "Downloading.. Do not turn off target".

Now every time I reboot it goes into this. I googled this and I tried
1. to click cancel on the download
Does not work, goes to green android screen anyways
2. to go into recovery mode
Does not work, goes to green android screen anyways

I cannot perform a factory reset because I cannot go into recovery mode. I don't know what to do. Is there any software from the PC that would allow me to reset my phone? Of course it would be ideal if I can get it working without resetting it but at this time I just want the phone to work...

If I take my phone to someone, will they be able to fix it? Please help.