Getting errors codes when restoring iPhone while in recovery mode

Hello, my iPhone 4 was running firmware 6.1.2 and it somehow went into recovery mode. I took a picture then put it back in my pocket and it is not working anymore. It is stuck in recovery mode. I tried the power and home button to get it out but it does not work. If I just leave it there plugged in, the apple logo comes on for about 15 seconds then it shuts off and does this again and so on. When I get the connect to iTunes message, I try to restore it in itunes and it just gives me an error code. I have tried to restore like 20 times now and it always gives me some sort of error code. The errors codes it give me are 2001, 2006, and 3002. I tried replacing the battery already and it did not do anything. I have tried a few different sync cables too. It is also unjailbroken. How can I fix this?