Question: Can a sales invoice be paid in cash using the till?

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We run a small motorcycle shop, we do most our ordering via Odoo, plus we have a cash till in the shop, which also runs with Odoo. 

Currently we do all sales orders outside the system, and once the customer comes to collect his order from the shop, we just scan products out on the till,  take payment into the till and give them a till receipt for the parts.

We want to move on to using sales orders in Odoo,  as soon as possible. The problem is, that it is the staff in the shop, who is registering payments and taking in cash from the customer - has to register the payment somehow - and the only sensible way of doing that seems to be the till.

How can we register a cash payment for a sales order invoice, using Odoo till, so it will make sense accounts wise?

Thank you