Hi Dan. As others have said, the live event scene is the best place to start right now.

There is a section of the forums dedicated to live events, which has most of the basic information you need. It also has links to application forms for some of the events. One thing to keep in mind is the official confirmations & info packs for teams usually come through only a couple of weeks before the events but if you need to know anything sooner I'm sure the organizers will be happy to answer any queries.

One other thing to note is that different events have different rules for entries. For instance Robots Live don't allow HW spinners into their arena (at least they didn't last time I checked) so you may have to be careful.