#include <bits/stdc++.h>
using namespace std;
long long mod = 1e9 + 7;
int N, M, T, K, tc;
double dist(double x1, double y1, double x2, double y2) {
  return sqrt((x1 - x2) * (x1 - x2) + (y1 - y2) * (y1 - y2));
}
double eps = 1e-8;
int main() {
  double R, x1, y1, x2, y2;
  long long RR, xx1, yy1, xx2, yy2;
  cin >> RR >> xx1 >> yy1 >> xx2 >> yy2;
  R = 1.0 * RR;
  x1 = 1.0 * xx1;
  y1 = 1.0 * yy1;
  x2 = 1.0 * xx2;
  y2 = 1.0 * yy2;
  if ((xx1 - xx2) * (xx1 - xx2) + (yy1 - yy2) * (yy1 - yy2) > RR * RR) {
    printf("%.10f %.10f %.10f\n", x1, y1, R);
    return 0;
  }
  double r = (R + dist(x1, y1, x2, y2)) / 2.0;
  double x, y;
  if (xx1 == xx2 && yy1 == yy2) {
    x = x1 + r;
    y = y1;
  } else if (yy1 == yy2) {
    y = y1;
    if (x2 < x1) {
      x = x2 + r;
    } else {
      x = x2 - r;
    }
  } else if (xx1 == xx2) {
    x = x1;
    if (y2 < y1) {
      y = y2 + r;
    } else {
      y = y2 - r;
    }
  } else {
    double d = dist(x1, y1, x2, y2);
    x = x2 + (x1 - x2) * (r / d);
    y = y2 + (y1 - y2) * (r / d);
  }
  printf("%.10f %.10f %.10f\n", x, y, r);
}
