I see it like my hands...be able to put the striking object on the surface you intend with variable 'stickyness'.
I don't see it as an either/or...sometimes I want to dampen the bass beater head after the stroke...sometimes I want the stroke to be less staccato.
The real task is to get so you don't think about it...you just select the sound you want and actuate it.
My heel(well, my whole foot) goes all over the place...and i even find myself getting off the pedal and literally kicking the bass head when I want that sound(rarely but I have giggled at myself for doing it and really liked the result) or 'grabbing' the beater head with my foot(toes) and sweeping it back so the spring pulls it back to the head(also rarely)...or even hitting the bass head with a stick in my hands.(I stopped trying to rimshot my bass due to having wood hoops though i thought about trying to reinforce a section of the hoop to allow it...but not really important enough to deface my drums)
Experiment...don't get caught in long patterns (like decades) without re-examining.