With a POS module
Use WooCommerce as a fully functional POS for Retail or Restaurant
Mathias Nielsen commented
After using all the different POS plugins and not being properly satisfied any of them. Me and some colleagues set on a journey to build a professional POS solution that is directly tied into WooCommerce but yet works with all hardware like receipt printers, iPads etc.
We have build in the ability to do split payments and all the things you would expect from a professional system. We are constantly adding more features so if you are missing something don't hesitate to reach out.
You can find us at: https://www.oliverpos.com
If you want to try it out please feel free to contact us.
Johannes Gangsö commented
There are many great POS plugins out there but AFAIK they all lack the support for split payment (cash + card f. ex.)
Everyone struggling with it, please go and vote this Idea: http://ideas.woocommerce.com/forums/133476-woocommerce/suggestions/8888710-split-tender-option-for-woo-pos-plugins
CloudPOS for WooCommerce on the AppStore does what you are looking for with Swipe payments. They are somewhat early in the development stages but have a working app. Go ahead and support them!