#include <bits/stdc++.h>
using namespace std;
const int eps = 0.000001;
int main() {
  int i, j, m;
  long double R, x1, y1, x2, y2;
  cin >> R >> x1 >> y1 >> x2 >> y2;
  if ((x1 - x2) * (x1 - x2) + (y1 - y2) * (y1 - y2) >= R * R) {
    cout << x1 << ' ' << y1 << ' ' << R << endl;
    return 0;
  }
  long double r =
      (sqrt((x1 - x2) * (x1 - x2) + (y1 - y2) * (y1 - y2)) + R) / 2.0;
  if (x1 == x2 && y1 == y2) {
    cout << setprecision(8) << x1 + R / 2 << ' ' << y1 << ' ' << r;
    return 0;
  }
  cout << setiosflags(ios::fixed);
  cout << setprecision(8) << (x2 + (2 * r) / (2 * r - R) * (x1 - x2) + x2) / 2
       << ' ' << (y2 + (2 * r) / (2 * r - R) * (y1 - y2) + y2) / 2 << ' ' << r;
  return 0;
}
