#include <bits/stdc++.h>
using namespace std;
int main() {
  double R, x1, y1, x2, y2;
  cin >> R >> x1 >> y1 >> x2 >> y2;
  double m, n, r1;
  r1 = ((x1 - x2) * (x1 - x2) + (y1 - y2) * (y1 - y2));
  if (r1 == 0) {
    r1 = R / 2.0;
    printf("%.9f %.9f %.9f", x1, y1 + r1, r1);
  } else if (r1 > R * R) {
    printf("%.9f %.9f %.9f", x1, y1, R);
  } else {
    r1 = sqrt(r1);
    m = (R + r1) / 2.0;
    n = (R - r1) / 2.0;
    double x, y;
    x = (m * x1 - n * x2) / (m - n);
    y = (m * y1 - n * y2) / (m - n);
    printf("%.9f %.9f %.9f", x, y, m);
  }
  return 0;
}
