Maybe this isn't helpful, but I've found that the Multifarm from Forestry does a good job of harvesting IC2 crops and Pam's Harvestcraft crops when it's configured in Orchard mode. Orchard mode basically right-clicks on things rather than destroying blocks, so it works for foods that support right click (IC2 crops, Harvestcraft crops, Harvestcraft fruit-bearing trees).
The harvester is specifically designed for IC2 crops, so as such doesn't have any support for Harvestcraft. Forestry is a good alternative if you're trying to automate it though, it has an electric engine too which means you can still power its machines if you particularly wanted to use EU.
