#include <bits/stdc++.h>
using namespace std;
int32_t main() {
  ios_base::sync_with_stdio(0);
  cin.tie(0);
  ;
  long double r, x1, y1, x2, y2;
  cin >> r >> x1 >> y1 >> x2 >> y2;
  cout << fixed << setprecision(10);
  long double R, xap, yap;
  if (x1 == x2 && y1 == y2) {
    R = r / 2 - 1e-7;
    xap = x1;
    yap = y1 + r / 2;
  } else {
    long double d = (x1 - x2) * (x1 - x2) + (y1 - y2) * (y1 - y2);
    if (d >= r * r)
      R = r - 1e-7, xap = x1, yap = y1;
    else {
      d = sqrt(d);
      R = (r + d) / 2 - 1e-7;
      long double x = (r + d) / 2;
      xap = (x * x1 - (x - d) * x2) / d;
      yap = (x * y1 - (x - d) * y2) / d;
    }
  }
  cout << xap << " " << yap << " " << R;
  return 0;
}
