You can choose some colors you like and put them in an array longer than the max floor numbers, then access the array with the floor-count as the index.
Example:
var colors = ["#000000","#0000CC","#000033","#000066","#000099","#0000FF","#00CC00",
              "#00CCCC","#00CC33","#00CC66","#00CC99","#00CCFF","#003300","#0033CC",
              "#003333","#003366","#003399","#0033FF","#006600","#0066CC","#006633",
              "#006666","#006699","#0066FF","#009900","#0099CC","#009933","#009966",
              "#009999","#0099FF","#00FF00","#00FFCC","#00FF33","#00FF66","#00FF99",
              "#00FFFF","#CC0000","#CC00CC","#CC0033","#CC0066","#CC0099","#CC00FF",
              "#CCCC00","#CCCCCC","#CCCC33","#CCCC66","#CCCC99","#CCCCFF","#CC3300",
              "#CC33CC","#CC3333","#CC3366","#CC3399","#CC33FF","#CC6600","#CC66CC",
              "#CC6633","#CC6666","#CC6699","#CC66FF","#CC9900","#CC99CC","#CC9933",
              "#CC9966","#CC9999","#CC99FF","#CCFF00","#CCFFCC","#CCFF33","#CCFF66",
              "#CCFF99","#CCFFFF","#330000","#3300CC","#330033","#330066","#330099",
              "#3300FF","#33CC00","#33CCCC","#33CC33","#33CC66","#33CC99","#33CCFF",
              "#333300","#3333CC","#333333","#333366","#333399","#3333FF","#336600",
              "#3366CC","#336633","#336666","#336699","#3366FF","#339900","#3399CC",
              "#339933","#339966","#339999","#3399FF","#33FF00","#33FFCC","#33FF33",
              "#33FF66","#33FF99","#33FFFF","#660000","#6600CC","#660033","#660066",
              "#660099","#6600FF","#66CC00","#66CCCC","#66CC33","#66CC66","#66CC99",
              "#66CCFF","#663300","#6633CC","#663333","#663366","#663399","#6633FF",
              "#666600","#6666CC","#666633","#666666","#666699","#6666FF","#669900",
              "#6699CC","#669933","#669966","#669999","#6699FF","#66FF00","#66FFCC",
              "#66FF33","#66FF66","#66FF99","#66FFFF","#990000","#9900CC","#990033",
              "#990066","#990099","#9900FF","#99CC00","#99CCCC","#99CC33","#99CC66",
              "#99CC99","#99CCFF","#993300","#9933CC","#993333","#993366","#993399",
              "#9933FF","#996600","#9966CC","#996633","#996666","#996699","#9966FF",
              "#999900","#9999CC","#999933","#999966","#999999","#9999FF","#99FF00",
              "#99FFCC","#99FF33","#99FF66","#99FF99","#99FFFF","#FF0000","#FF00CC",
              "#FF0033","#FF0066","#FF0099","#FF00FF","#FFCC00","#FFCCCC","#FFCC33",
              "#FFCC66","#FFCC99","#FFCCFF","#FF3300","#FF33CC","#FF3333","#FF3366",
              "#FF3399","#FF33FF","#FF6600","#FF66CC","#FF6633","#FF6666","#FF6699",
              "#FF66FF","#FF9900","#FF99CC","#FF9933","#FF9966","#FF9999","#FF99FF",
              "#FFFF00","#FFFFCC","#FFFF33","#FFFF66","#FFFF99","#FFFFFF"]
while(countEtages>=1) {
    var color = colors[countEtages % colors.length];
    menu_container.innerHTML += "<li style=\"width: " + width + 
     ";background-color:" + color + ";\" class=\"menu-item "+
     ((etage == etageNummer) ? 'active' : '')+"\" id=\"etage-" + etageNummer + 
     "\"><a href=\"/etage.html?etage=" + etageNummer + "\">Etage " + etageNummer+ "</a></li>";
    etageNummer++;
    countEtages--;
}