Hard requirements:
More precisely, NTSC video supports a luma range of 16 to 235 (in YUV space); so your RGB values should be between 16 and 235 (instead of the usual 0 to 255). A rule of thumb for avoiding saturated colors is to use values no higher than 180; and for red, there may still be bleeding lower than 180. Despite the darker look on screen, these colors will look better on NTSC video.