In areas where sufficient rainfall is available the use of a winter season legume with a summer season cereal would make a lot of sense.
Millet will need 60 to 120 kg/ha N to optimize its production.
Winter broad bean Vicia faba would provide sufficient Nitrogen to provide the subsequent pearl millet Nitrogen need.
The use of this rotation would eliminate need for ammoniated nitrogen application reducing cost increase the ability to suppress weeds and pests.
Legume forages are excellent for increasing ths soil nitrogen level and rotation. Corraled animals can provide useful milk products and the manures are useful for soil improvement. Manures can be anaerobically decomposed giving a source of natural biogas useful for cooking at the village level.