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Mobile devices, climate science, and autonomous vehicles all require advanced microwave antennas for imaging, radar, and wireless communications. The cost, size, and power consumption of existing technology, however, has hindered the ubiquity of electronically steered systems. Here, we propose a metasurface antenna design paradigm that enables electronic beamsteering from a passive lightweight circuit board with varactor-tuned elements. Distinct from previous metasurfaces (which require dense element spacing), the proposed design uses Nyquist spatial sampling of half a wavelength. We detail the design of this Nyquist metasurface antenna and experimentally validate its ability to electronically steer in two directions. Nyquist metasurface antennas can realize high performance without costly and power hungry phase shifters, making them a compelling technology for future antenna hardware.