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Physical and environmental sensing is benefitting several domains to solve real time problems. Wireless Sensor and Actuator Networks (WSAN) are emerging as the new generation of sensor networks and providing a boost towards the development of autonomous systems. Use of WSAN towards crop irrigation is one of the top most utilization in the area of Agriculture. In this paper we have presented the crop irrigation control to better utilize water resource which is getting scarce. The one of the major hindrances on the way of WSAN adaptation in the third world countries like Pakistan is the factor of hardware/system cost. To cope up with cost factor, there is a need of the indigenous development of sensor and actuator motes. In addition to crop irrigation control, we also presented our efforts of indigenous design and development of WSAN and its protocol.