#include <bits/stdc++.h>
using namespace std;
inline void R(int &v) {
  static char ch;
  v = 0;
  bool p = 0;
  do {
    ch = getchar();
    if (ch == '-') p = 1;
  } while (!isdigit(ch));
  while (isdigit(ch)) {
    v = (v + (v << 2) << 1) + (ch ^ '0');
    ch = getchar();
  }
  if (p) v = -v;
}
inline void R(long long &v) {
  static char ch;
  v = 0;
  bool p = 0;
  do {
    ch = getchar();
    if (ch == '-') p = 1;
  } while (!isdigit(ch));
  while (isdigit(ch)) {
    v = (v + (v << 2) << 1) + (ch ^ '0');
    ch = getchar();
  }
  if (p) v = -v;
}
inline void R(double &v) {
  static char ch;
  v = 0;
  bool p = 0;
  do {
    ch = getchar();
    if (ch == '-') p = 1;
  } while (!isdigit(ch));
  while (isdigit(ch)) {
    v = v * 10 + (ch ^ '0');
    ch = getchar();
  }
  if (p) v = -v;
}
int n;
int a[100005];
char s1[100005];
bool vis[100050];
int r, xx1, xx2, yy1, yy2;
long double nx1, ny1;
long double dis1, dis2, dis;
inline long double getdis(long double x1, long double y1, long double x2,
                          long double y2) {
  return sqrt((x1 - x2) * (x1 - x2) + (y1 - y2) * (y1 - y2));
}
long double eps = 1e-12;
int main() {
  R(r), R(xx1), R(yy1), R(xx2), R(yy2);
  dis = getdis(xx1, yy1, xx2, yy2);
  long double ans = 0;
  long double temp;
  long double ansx, ansy;
  if (dis < eps) {
    ansx = xx1 + (long double)r / 2 - eps;
    ansy = yy1;
    ans = (long double)r / 2 - eps;
    cout << fixed << setprecision(15) << ansx << ' ' << ansy << ' ' << ans
         << '\n';
    return 0;
  }
  if (dis > r) {
    ansx = xx1;
    ansy = yy1;
    ans = r;
    cout << fixed << setprecision(15) << ansx << ' ' << ansy << ' ' << ans
         << '\n';
    return 0;
  }
  dis1 = dis + r;
  dis2 = fabs((long double)r - dis);
  temp = dis1 / 2 - eps;
  if (temp > ans) {
    ans = temp;
    ansx = xx2 + (long double)(xx1 - xx2) * (temp / dis);
    ansy = yy2 + (long double)(yy1 - yy2) * (temp / dis);
  }
  temp = dis2 / 2 - eps;
  if (temp > ans) {
    ans = temp;
    ansx = xx2 - (xx1 - xx2) * (temp / dis);
    ansy = yy2 - (yy1 - yy2) * (temp / dis);
  }
  cout << fixed << setprecision(15) << ansx << ' ' << ansy << ' ' << ans
       << '\n';
  return 0;
}
