Wash and soak the millet for 15 mins.
In a pressure cooker, take the toor dal, turmeric powder, enough water and pressure cook for 2 whistles. Remove the pressure slowly, add chopped carrots, beans and potato. Pressure cook for one whistle.
Let the pressure out, add chopped tomatoes and pressure cook for 1 whistle.
Add 1/2 cup more water, add brinjal and drumstick.
Now add the drained millet, 1.5 cups of water and mix well.
Add sambar powder, tamarind extract, salt.
Mix well and pressure cook for 2 whistles. Let the steam fall, and mix everything well.