I used Foxtail millet (thinai or kangni). You can use any variety of millet or a mix of millets too.
Heat a pan and dry roast the millet for 1-2 min till it feels hot to your touch and fragrant.
Roast over low flame without changing its color. The roasting time will increase if the quantity of the millets increase.
Transfer it to a pressure cooker. You can roast the millet directly in the pressure cooker itself instead of using a pan.
Add water, salt (if using), mix well, close the lid and cook over medium flame for 3 whistles.
After the pressure is released, open the lid and fluff with a fork.
Serve hot or warm.
Use 1 cup water, if you want the grains to be separate else use 1-1/4 cups water (which I do), if you want the millets to be soft and easy to swallow.