Resetting an iPad if settings will not open?

I have an iPad mini in a very sorry state. Settings will not open, the touch screen becomes unresponsive when it is trying to open, then eventually it gives up and goes back to the lock screen. I would like to factory reset it from iTunes on a Mac Book Pro, but when I try to do that iTunes says "Find My iPad must be turned off before "Tim's iPad" can be restored. Go to iCloud Settings on your iPad and turn off Find My iPad before restoring your iPad". Of course I cannot go to iCloud settings, because settings will not open. So I am stuck. What should I try next?