It all depends on what you are comfortable with. Team 108 and 1345 both used AndyMark Gen1 and planning on using parts from it next year as well.
Download the JVN calculator and look under the first tab called "Specs." It has all the information you would need about the motors that are supplied in the kit. It also shows specs on stall torque, stall current, and free current when you combine motors together. And of course you can easily calculate the speed of your drive train, rotary mechanism, linear mechanism, and intake mechanism as well. It's a useful tool. Download it from
here.