[Jared Russell]

If you want to arbitrarily orient the tube, then two motors is the simplest option.

But I would argue that there is not a lot of value in being able to arbitrarily rotate the tube, in and of itself. Typically, there is one orientation you want those tubes to be in when you go to score. So being able to rotate the tube is only useful in that you can bring any tube you pick up or are carrying to that orientation.

If getting the tube you picked up into your desired scoring orientation is your goal, there are several one-motor ways to make it happen. You can design your roller claw such that the geometry forces tubes to be sucked in to the correct orientation.