#include <bits/stdc++.h>
using namespace std;
typedef vector<long long int> vi;
typedef vector<vi> vvi;
typedef vector<pair<long long int, long long int> > vii;
typedef vector<vii> vvii;
typedef vector<bool> vb;
const long long int dx4[] = {1, 0, -1, 0}, dy4[] = {0, -1, 0, 1};
const long long int dx8[] = {0, 0, 1, 1, 1, -1, -1, -1},
                    dy8[] = {1, -1, 1, 0, -1, 1, -0, -1};
long double dist(long long int a1, long long int b1, long long int a2,
                 long long int b2) {
  return sqrt(((a2 - a1) * (a2 - a1)) + ((b2 - b1) * (b2 - b1)));
}
signed main() {
  long double r, x1, y1, x2, y2, rap, xap, yap, d, cosine, sine;
  cin >> r >> x1 >> y1 >> x2 >> y2;
  d = dist(x1, y1, x2, y2);
  if (d > r) {
    rap = r;
    xap = x1;
    yap = y1;
  } else {
    rap = (r + d) / (long double)(2);
    if (d == 0) {
      xap = x1 + r / (long double)(2);
      yap = y1;
    } else {
      cosine = (x1 - x2) / d;
      sine = (y1 - y2) / d;
      xap = x2 + (rap * cosine);
      yap = y2 + (rap * sine);
    }
  }
  cout << setprecision(100) << xap << " " << yap << " " << rap << endl;
  return 0;
}
