For the life of me I cannot remember what the difference between these two are.
Also, are they compatible with DS4?
As far as I know only AniMate 2 is compatible with DS4. I'm not sure what the differences between base and plus were, however.
There was quite a lot of difference between aniMate and aniMate+ - mostly that you could edit and create aniBlocks with aniMate+.
I don't know whether they are compatible with DS4, I don't think so.
There is no upgrade path - when GoFigure released aniMate2, they did so at half the price of aniMate+.
The support page with manuals for all of them is here: