#include <bits/stdc++.h>
using namespace std;
bool debug = 0;
int n, m, k;
int dx[4] = {0, 1, 0, -1}, dy[4] = {1, 0, -1, 0};
string direc = "RDLU";
long long ln, lk, lm;
void etp(bool f = 0) {
  puts(f ? "YES" : "NO");
  exit(0);
}
void addmod(int &x, int y, int mod = 1000000007) {
  assert(y >= 0);
  x += y;
  if (x >= mod) x -= mod;
  assert(x >= 0 && x < mod);
}
void et() {
  puts("-1");
  exit(0);
}
long long fastPow(long long x, long long y, int mod = 1000000007) {
  long long ans = 1;
  while (y > 0) {
    if (y & 1) ans = (x * ans) % mod;
    x = x * x % mod;
    y >>= 1;
  }
  return ans;
}
long long gcd1(long long x, long long y) {
  long long z = y;
  while (x % y != 0) {
    z = x % y;
    x = y;
    y = z;
  }
  return z;
}
struct Point {
  long double x, y;
  Point() {}
  Point(long double x, long double y) : x(x), y(y) {}
  long double abs() const { return hypot(x, y); }
  long double arg() const { return atan2(y, x); }
  Point operator*(double o) const { return Point(x * o, y * o); }
  Point operator+(const Point &o) const { return Point(x + o.x, y + o.y); }
  Point operator-(const Point &o) const { return Point(x - o.x, y - o.y); }
  Point operator/(double o) const { return Point(x / o, y / o); }
  bool operator<(const Point &o) const {
    return x < o.x - 1e-9 || (x < o.x + 1e-9 && y < o.y - 1e-9);
  }
  friend bool operator==(const Point &r1, const Point &r2) {
    return r1.x == r2.x && r1.y == r2.y;
  }
  Point scale(double o) const { return *this * (o / abs()); }
  Point rotY() const { return Point(-y, x); }
  Point rotX() const { return Point(y, -x); }
  long double cross(Point b) const { return x * b.y - b.x * y; }
  long double dot(Point b) const { return x * b.x + y * b.y; }
  long double disToSeg(Point &a, Point &b) {
    return fabs(((*this) - a).cross(b - a) / (b - a).abs());
  }
  pair<long long, long long> getVec() {
    if (x == 0) return {0, y > 0 ? 1 : -1};
    if (y == 0) return {x < 0 ? -1 : 1, 0};
    long long gg = gcd1(::abs(x), ::abs(y));
    long long px = x / gg, py = y / gg;
    return {px, py};
  }
  void readin() { scanf("%Lf%Lf", &x, &y); }
} p[2];
int R;
void fmain(int ID) {
  scanf("%d", &R);
  for (int(i) = 0; (i) < (int)(2); (i)++) p[i].readin();
  if ((p[1] - p[0]).abs() >= R) {
    printf("%.10Lf %.10Lf %d\n", p[0].x, p[0].y, R);
    return;
  }
  long double dis = (p[1] - p[0]).abs();
  if (dis < 1e-9) {
    long double r = R * 0.5;
    long double pa = r * sqrt(2) / 2;
    printf("%.10Lf %.10Lf %.10Lf\n", p[0].x + pa, p[0].y + pa, r);
    return;
  }
  long double co = (R + dis) / dis;
  Point z = p[0] - p[1];
  z = z * co + p[1];
  z = (z + p[1]) / 2;
  printf("%.10Lf %.10Lf %.10Lf\n", z.x, z.y, (dis + R) / 2);
}
int main() {
  int t = 1;
  for (int(i) = 1; (i) <= (int)(t); (i)++) {
    fmain(i);
  }
  return 0;
}
