How to completely wipe an android phone through a PC?

I dropped my smartphone and now the screen doesn't work, but the software functionality remains intact. I can receive calls and messages for instance, but I can't see a thing on the screen. Having said that: Is there a way to completely wipe the phone without any interaction with the phone screen at all? (In a way that data recovering tools such as Recuva cannot recover the files) The phone is rooted.
Its a Moto X1 (xt1058).
Developer mode is activated.
Not sure if USB debugging is activated. (I tried using Droid Explorer, but the phone isn't detected)