#include <bits/stdc++.h>
using namespace std;
double dist(double x1, double y1, double x2, double y2) {
  return sqrt((x1 - x2) * (x1 - x2) + (y1 - y2) * (y1 - y2));
}
int main() {
  double r, x1, y1, x2, y2;
  cin >> r >> x1 >> y1 >> x2 >> y2;
  if (dist(x1, y1, x2, y2) >= r) {
    printf("%.12f %.12f %.12f\n", x1, y1, r);
  } else if (x1 == x2 && y1 == y2) {
    double r1 = r / 2.0;
    double x3 = x1 - r1;
    double y3 = y1;
    printf("%.12f %.12f %.12f\n", x3, y3, r1);
  } else {
    double r1 = (dist(x1, y1, x2, y2) + r) / 2.0;
    double d1 = dist(x1, y1, x2, y2);
    double d2 = r1 - d1;
    double alpha1 = d1 / (d1 + d2);
    double alpha2 = d2 / (d1 + d2);
    double x3 = (x1 - alpha2 * x2) / alpha1;
    double y3 = (y1 - alpha2 * y2) / alpha1;
    printf("%.12f %.12f %.12f\n", x3, y3, r1);
  }
  return 0;
}
