#include <bits/stdc++.h>
using namespace std;
const int maxn = 1e5 + 7;
const double eps = 1e-7;
double R;
pair<double, double> c, x;
double cal(pair<double, double> a, pair<double, double> b) {
  return (a.first - b.first) * (a.first - b.first) +
         (a.second - b.second) * (a.second - b.second);
}
int main() {
  scanf("%lf%lf%lf%lf%lf", &R, &c.first, &c.second, &x.first, &x.second);
  double len = cal(x, c);
  if (len == 0) {
    double r = 1.0 * R / 2;
    printf("%.16lf %.16lf %.16lf\n", x.first + r, x.second, r);
  } else if (len >= R * R) {
    printf("%.16lf %.16lf %.16lf\n", 1.0 * c.first, 1.0 * c.second, 1.0 * R);
  } else {
    len = sqrt(len);
    double r = (len + R) / 2;
    printf("%.16lf %.16lf %.16lf\n",
           1.0 * (c.first - x.first) * r / len + x.first,
           (c.second - x.second) * r / len + x.second, r);
  }
  return 0;
}
