#include <bits/stdc++.h>
using namespace std;
int main(int argc, char** argv) {
  double R, x1, y1, x2, y2;
  cin >> R >> x1 >> y1 >> x2 >> y2;
  if ((x2 - x1) * (x2 - x1) + (y2 - y1) * (y2 - y1) >= R * R) {
    printf("%.15lf %.15lf %.15lf", 1.0 * x1, 1.0 * y1, 1.0 * R);
    return 0;
  } else {
    double ans = 0;
    ans =
        R + (double)sqrt(1.0 * ((x2 - x1) * (x2 - x1) + (y2 - y1) * (y2 - y1)));
    ans /= 2.0;
    if (x1 == x2 && y1 == y2) {
      printf("%.15lf %.15lf %.15lf", 1.0 * x1 - R / 2.0, 1.0 * y1, R / 2.0);
      return 0;
    }
    double L = sqrt(1.0 * ((x2 - x1) * (x2 - x1) + (y2 - y1) * (y2 - y1)));
    double x = 1.0 * (x1 - x2) * ans / L + x2 * 1.0;
    double y = 1.0 * (y1 - y2) * ans / L + y2 * 1.0;
    printf("%.15lf %.15lf %.15lf", x, y, ans);
  }
  return 0;
}
