How can I plot my drawing to a PDF and have all the the lines in the PDF be their respected colors?
 
I have a tool palette set up with various PDF plot commands, but I cannot get any of them to plot in color.
Any solutions would be helpful.

Plotting to PDF respects the same plot style settings as normal plot/print. So check your plot style settings (monochrome vs. color mapping CTB vs. named styles STB).

Specify the acad.ctb or stb.