The full JR Pass is definitely not worth it, since the conventional wisdom is that it is worth getting only if you make the equivalent of a roundtrip between Tokyo and Kyoto. Since you are staying in just one area for a short time, you will be able to get by with the Haruka plus ICOCA card.
However, if you really are staying within or near the city limits of Kyoto for such a short time, it may be possible to meet your sightseeing needs with the Haruka plus single tickets or the Haruka plus a bus card.
(I don't know. Does the ICOCA include the city bus system?)