Yes, you can pick it up at the window. I did exactly this last fall, and your non-chipped card won't work in the machines as you noticed.
The only two things I'd mention is that the lines for the windows can be long, so either arrive early or swing by the station before the day of your departure. Second, if you're leaving from Gare de Lyon there are about a hundred different ticket windows scattered all throughout the station, and I couldn't figure out if they were for different purposes or what. I was able to pick up my tickets from the first one I tried but that might have been luck...so if your French sucks and you can't ask at the accueil desk you might need even more time.
Also, don't forget to check the IDTGV (idtgv.com)...it's a special set of cars on the TGV trains marketed to younger travelers, and they have two types of cars. One type is a 'quiet' car where you can plan on sleeping, etc. The other type is an 'entertainment' car where you can listen to music, watch DVDs, etc. I was able to get IDTGV tickets in first class for cheaper than the normal TGV's coach tickets on one of my trips.