#include <bits/stdc++.h>
using namespace std;
int main() {
  int R, x1, y1, x2, y2;
  scanf("%d%d%d%d%d", &R, &x1, &y1, &x2, &y2);
  if ((long long)(x2 - x1) * (x2 - x1) + (long long)(y2 - y1) * (y2 - y1) >=
      (long long)R * R) {
    printf("%.12f %.12f %.12f\n", (double)x1, (double)y1, (double)R);
  } else if (x1 == x2 && y1 == y2) {
    printf("%.12f %.12f %.12f\n", x1 + R / 2.0, (double)y1, R / 2.0);
  } else {
    double L = R + hypot(x2 - x1, y2 - y1);
    L /= 2;
    double dx = x1 - x2, dy = y1 - y2, dl = hypot(dx, dy);
    dx = dx / dl * L + x2;
    dy = dy / dl * L + y2;
    printf("%.12f %.12f %.12f\n", dx, dy, L);
  }
  return 0;
}
