You can create invoices from your schedule a couple different ways.
One way to create invoices from your schedule, click the Schedule Tab
Once on your schedule, click Grid View
Select the boxes beside the visits you want to create invoices for and click “Close and Invoice“
Another way is to click on the visit on your calendar and close and invoice from the popup:
When you click “Complete & Invoice” here, it adds this visit to an invoice automatically for you.