#include <bits/stdc++.h>
using namespace std;
const long long N = 2e5 + 5;
const long long mod = 1e9 + 7;
int main() {
  ios_base::sync_with_stdio(false);
  cin.tie(NULL);
  long double r, x1, y1, x2, y2;
  cin >> r >> x1 >> y1 >> x2 >> y2;
  long double dist = sqrt((x1 - x2) * (x1 - x2) + (y1 - y2) * (y1 - y2));
  if (dist >= r)
    return cout << fixed << setprecision(18) << x1 << " " << y1 << " " << r, 0;
  dist = dist + r;
  dist /= 2;
  long double angle, x, y;
  angle = atan2(y1 - y2, x1 - x2);
  x = x2 + cos(angle) * dist;
  y = y2 + sin(angle) * dist;
  cout << fixed << setprecision(18) << x << " " << y << " " << dist;
}
