There are two things you need to do for this:
1) If you want to customize the TabBar itself, you need to set the barTintColor for the tabBarController:
// this will generate a black tab bar
tabBarController.tabBar.barTintColor = [UIColor blackColor];
// this will give selected icons and text your apps tint color
tabBarController.tabBar.tintColor = appTintColor; // appTintColor is a UIColor *
2) Set the tabBarItem text appearance for each state that you want to override:
[[UITabBarItem appearance] setTitleTextAttributes:@{NSFontAttributeName : [UIFont fontWithName:@"HelveticaNeue-Bold" size:10.0f],
NSForegroundColorAttributeName : appTintColor
} forState:UIControlStateSelected];
// doing this results in an easier to read unselected state then the default iOS 7 one
[[UITabBarItem appearance] setTitleTextAttributes:@{NSFontAttributeName : [UIFont fontWithName:@"HelveticaNeue-Bold" size:10.0f],
NSForegroundColorAttributeName : [UIColor colorWithRed:.5 green:.5 blue:.5 alpha:1]
} forState:UIControlStateNormal];
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