#include <bits/stdc++.h>
using namespace std;
int main() {
  double R, x1, x2, y1, y2;
  scanf("%lf%lf%lf%lf%lf", &R, &x1, &y1, &x2, &y2);
  double J = (x1 - x2) * (x1 - x2) + (y1 - y2) * (y1 - y2);
  if (J >= R * R)
    printf("%.8f %.8f %.8f\n", x1, y1, R);
  else {
    if (x1 == x2) {
      double dy = (R - sqrt(J)) / 2;
      printf("%.8f %.8f %.8f\n", x1, y1 + (y1 > y2 ? 1 : -1) * dy,
             (R + sqrt(J)) / 2);
      return 0;
    }
    double dx = (x1 - x2) / sqrt(J) * (R - sqrt(J)) / 2,
           dy = (y1 - y2) / sqrt(J) * (R - sqrt(J)) / 2;
    printf("%.10f %.10f %.10f", x1 + dx, y1 + dy, (R + sqrt(J)) / 2);
  }
}
