#include <bits/stdc++.h>
using namespace std;
const long long int mod = 1e9 + 7;
int main() {
  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) {
    cout << fixed << setprecision(20) << x1 << " " << fixed << setprecision(20)
         << y1 << " " << fixed << setprecision(20) << R << "\n";
    return 0;
  }
  if (dist == 0) {
    long double d1 = R / sqrt((long double)2);
    x1 += (R / 2);
    y1 += 0;
    cout << fixed << setprecision(20) << x1 << " " << fixed << setprecision(20)
         << y1 << " " << fixed << setprecision(20) << R / 2 << "\n";
    return 0;
  }
  long double vx = x1 - x2;
  long double vy = y1 - y2;
  long double R1 = (R + dist) / 2;
  x2 = (dist * x2 + R1 * (vx)) / dist;
  y2 = (y2 * dist + vy * R1) / dist;
  cout << fixed << setprecision(20) << x2 << " " << fixed << setprecision(20)
       << y2 << " " << fixed << setprecision(20) << R1 << "\n";
}
