#include <bits/stdc++.h>
using namespace std;
int main() {
  int t;
  t = 1;
  while (t--) {
    long long n, i, j, w, h, count = 0, sum = 0, total;
    string s;
    double R, x1, y1, x2, y2;
    double T, Rad;
    cin >> R >> x1 >> y1 >> x2 >> y2;
    T = sqrt(pow(x1 - x2, 2) + pow(y1 - y2, 2));
    Rad = (T + R) / 2;
    if (x1 == x2 && y1 == y2) {
      cout << x1 << " " << setprecision(15) << R / 2 + y1 << " "
           << setprecision(15) << R / 2;
    } else if (Rad >= R) {
      cout << x1 << " " << y1 << " " << R;
    } else {
      cout << setprecision(15) << (x1 * (Rad) - (Rad - T) * x2) / T << " ";
      cout << setprecision(15) << (y1 * (Rad) - (Rad - T) * y2) / T << " ";
      cout << setprecision(12) << Rad;
    }
  }
}
