It happened around 11 a.m. Tuesday on S. New Hope Road.
Authorities said 32-year-old Derek McPherson was reportedly seen putting on a mask after parking a van behind the Han-Dee Hugo's store.
Nearby officers were called to the scene and spotted McPherson carrying a machete just as he was leaving the business.
Officials told ABC11 that McPherson ran into a nearby wooded area, but officers were able to apprehend him following a brief chase.
No one was injured during the incident.
McPherson is charged with robbery with a dangerous weapon, second-degree kidnapping, and resisting arrest.