Schadeck
Schadeck's twin towers on the double curtain wall, which served as the keep and last point of defense.  A number of interesting features are visible here.  First, the entrance is a single point almost 30 feet (10 meters) from the base.  Unfortunately, there is no access open to the lower part of the towers, though these areas were probably used principally for storage.  An effort to locate the probable point of access indicate that it was possibly from the very top of the wall walkway between the towers, and NOT near the entrance proper.  Thus, for an enemy to gain access to the lower levels they would either have to sap their way through the walls, and this blindly as they would not know the inner design, or they would have to fight their way to the top, and then work their way down.

Another feature of the entrance is the breteche above, where cauldrons of boiling water or oil could be suspended to drive off assailants. 
Right, a closer view of several aspects of the towers.  The breteche is clearly visible, including the opening downward to allow the use of various weapons to repel attackers.  Also visible are the stone supports serve as floor joists for the stone floor in the towers.  The two supports protruding below the tower are the supports for the original catwalk to enter the tower, as the stairway is naturally of recent design.   Also, if you look very carefully at the photo above, you can see supports on both walls below the entrance.  This suggests that the original entrance catwalk was a series of wooden landings with ladders between them. 
Left, a view of the stairway into the entrance of the keep.  Though of recent construction and design, it still provides some idea how difficult it would be to reach the entrance.

To the right, another view of the stairs showing the entrance as seen from the south tower.  A view from the breteche was not only difficult, but even dangerous, and therefore not recommended.  Nevertheless, this offers an idea of how the defenders would protect the entrance from assault.  Prior to the age of cannon this would be an effective deterent to any attack, and would explain why Schadeck survived intact into the late 1600s.
Left, a view through the interior of the curtain wall.  The walls at this point are not exceptionally thick, being only about 3 feet (1 meter).  Yet, the arched design of the brick roof offered good protection from missiles shot from the hills and allowed the defenders to fight virtually unmolested.  While the stairs are recent, it appears that the entrance are is original, having only been repaired and since maintained.  The interior also shows the application of a cement paste to prevent further decay of the structure, but the brickwork is largely original.

Below, a view from one of the towers as two barges negotiate the narrow Neckar River.