#include <bits/stdc++.h>
using namespace std;
double r, l1, c1, l2, c2;
double rx, ry, rr;
double fa1, fb1, fc1;
double fa2, fb2, fc2;
double dist(double l1, double c1, double l2, double c2) {
  return sqrt((l1 - l2) * (l1 - l2) + (c1 - c2) * (c1 - c2));
}
void ve(double &l, double &c, double a1, double b1, double c1, double a2,
        double b2, double c2) {
  c = (a1 * c2 - a2 * c1) / (a2 * b1 - a1 * b2);
  if (a1 == 0)
    l = (-c2 - b2 * c) / a2;
  else
    l = (-c1 - b1 * c) / a1;
}
int main() {
  cin.sync_with_stdio(false);
  cin >> r >> l1 >> c1 >> l2 >> c2;
  if (l1 == l2 && c1 == c2) {
    cout << l1 - r / 2 << ' ' << c1 << ' ' << r / 2;
    return 0;
  }
  if (dist(l1, c1, l2, c2) >= r) {
    cout << l1 << ' ' << c1 << ' ' << r;
    return 0;
  }
  rr = (2 * r - r + dist(l1, c1, l2, c2)) / 2;
  fa1 = c1 - c2;
  fb1 = l2 - l1;
  fc1 = l1 * c2 - l2 * c1;
  fa2 = 2 * (l2 - l1);
  fb2 = 2 * (c2 - c1);
  fc2 = l1 * l1 - l2 * l2 + c1 * c1 - c2 * c2 + rr * rr -
        (rr - dist(l1, c1, l2, c2)) * (rr - dist(l1, c1, l2, c2));
  ve(rx, ry, fa1, fb1, fc1, fa2, fb2, fc2);
  cout << fixed << setprecision(8) << rx << ' ' << ry << ' ' << rr;
}
