the people became nomads and goat & camel herders. the coastal area north of the Sahara does still produce fruits & some grain. even during roman times the coastal are flourished with some powerful country\states, until the romans conquered them & incorporated large areas N. Africa into the empire. if you will notice population in the Sahara is not very large but is able to support certain tribes like the Tauregs.
HOPE THIS HELPS :D