#include <bits/stdc++.h>
using namespace std;
const int INF = 0x3f3f3f3f;
int main() {
  double r, x1, y1, x2, y2;
  cin >> r >> x1 >> y1 >> x2 >> y2;
  double l = sqrt(pow(x1 - x2, 2) + pow(y1 - y2, 2));
  if (l == 0) {
    printf("%.7f %.7f %.7f", x1 + r / 2, y1, r / 2);
    return 0;
  }
  if (l > r) {
    printf("%.7f %.7f %.7f", x1, y1, r);
    return 0;
  }
  double Sin = (y1 - y2) / l;
  double Cos = (x1 - x2) / l;
  double ll = (l + r) / 2;
  double ansy = y2 + Sin * ll;
  double ansx = x2 + Cos * ll;
  printf("%.7f %.7f %.7f\n", ansx, ansy, ll);
  return 0;
}
