How can I make set up a shading scheme in blender that creates a color map when rendered? I am using robotic painting to render an animation and I am limited to a set of 10 colors which I can paint with. 

I want to create a setup in blender in which I designate those 10 colors as materials and apply them to objects/characters. The final image should consist of only those colors so that the parser can sense the rgb values and create robot code respectively.

Essentially, I don't want any lighting, antialiasing, or variation from these 10 colors in the cycles render result. 

I cannot figure out how to keep lighting from affecting the final color values which are flat shading objects.

How can I do this in blender?
if you want a flat color in Cycles you have to use the emission shader.