#include <bits/stdc++.h>
using namespace std;
const long long mod = 1e9 + 7;
double sqr(double s) { return s * s * 1.0; }
double R, x1, yy1, x2, y2;
bool check(double x, double y) {
  double p = sqr(abs(x - x1)) + sqr(abs(y - yy1)), q = sqr(R);
  if ((p - q) <= 0.0000000001)
    return 1;
  else
    return 0;
}
int32_t main() {
  cin >> R >> x1 >> yy1 >> x2 >> y2;
  if (!check(x2, y2)) {
    cout << x1 << " " << yy1 << " " << R << endl;
    return 0;
  }
  double rd = sqrt(sqr(abs(x1 - x2)) + sqr(abs(yy1 - y2))) + R;
  double a3 = rd / 2.0, aa, bb;
  double lo = 0, hi = 1e9, a, b, a1, a2, b1, b2;
  long long ct = 0;
  if (x1 != x2) {
    double m = (y2 - yy1) / (x2 - x1);
    while (ct < 100) {
      double md = (lo + hi) / 2.0;
      double yy = y2 + (md * m), xx = x2 + md;
      if (check(xx, yy)) {
        a1 = xx, b1 = yy;
        lo = md;
      } else
        hi = md;
      ct++;
    }
    lo = 0, hi = 1e9;
    ct = 0;
    while (ct < 100) {
      double md = (lo + hi) / 2.0;
      double yy = y2 - (md * m), xx = x2 - md;
      if (check(xx, yy)) {
        a2 = xx, b2 = yy;
        lo = md;
      } else
        hi = md;
      ct++;
    }
    if (sqr(abs(x2 - a1)) + sqr(y2 - b1) > sqr(abs(x2 - a2)) + sqr(y2 - b2)) {
      a = a1;
      b = b1;
    } else {
      a = a2;
      b = b2;
    }
  } else {
    lo = 0, hi = 1e9;
    ct = 0;
    while (ct < 100) {
      double md = (lo + hi) / 2.0;
      double yy = y2 + md, xx = x2;
      if (check(xx, yy)) {
        a1 = xx, b1 = yy;
        lo = md;
      } else
        hi = md;
      ct++;
    }
    lo = 0, hi = 1e9;
    ct = 0;
    while (ct < 100) {
      double md = (lo + hi) / 2.0;
      double yy = y2 - md, xx = x2;
      if (check(xx, yy)) {
        a2 = xx, b2 = yy;
        lo = md;
      } else
        hi = md;
      ct++;
    }
    if (sqr(abs(x2 - a1)) + sqr(y2 - b1) > sqr(abs(x2 - a2)) + sqr(y2 - b2)) {
      a = a1;
      b = b1;
    } else {
      a = a2;
      b = b2;
    }
  }
  aa = (a + x2) / 2.0, bb = (b + y2) / 2.0;
  printf("%.10f %.10f %.10f\n", aa, bb, a3);
}
