The remains of the Castle can be visited
Warenburg Castle (Ruin)

The Warenburg ruin, also known as Wartenberg, is a former hilltop castle on the outskirts of Villingen-Schwenningen, standing at approximately 763 meters above sea level.
History+
The origins of Warenburg are presumed to date back to the 11th century. It was owned by the Zähringer and later Austria. The first documented mention dates to 1320. The castle formed the center of its own dominion, which included the surrounding villages of Marbach, Rietheim, Klengen, Überauchen, and Grüningen. In 1472, the city of Villingen acquired the complex and subsequently had it razed.
Source: Wikipedia · Licence: CC BY-SA 4.0 · Image: DKrieger / CC BY-SA 4.0 via Wikimedia Commons
This description draws on the facts documented in the linked Wikipedia article; Wikipedia content is licensed under CC BY-SA 4.0. Wording and editing: Mobile History.
Location: 48.0451, 8.4557