Wash and soak the foxtail millet and dal together for 15 minutes in three cups of water and keep aside.
Heat oil in a pressure cooker, add the vegetables and cook for few minutes.
Add now the soaked millet and dal with turmeric powder, sambar powder and salt to the cooked vegetables along with their soaked water. Now close the cooker with the lid and pressure cook up to 3 whistles.
Meanwhile heat the ghee or oil in a pan, and splutter the mustard seeds, urad dal and asafoetida powder, then add the cashews and curry leaves and fry for 2-3 minutes.
Once the steam comes out, open the lid and add the tempered spices and ghee.
Stir well and add the chopped coriander leaves and lemon juice.