#include <bits/stdc++.h>
using namespace std;
const int N = 1234567;
const int mod = 1e9 + 7;
double dis(double x1, double y1, double x2, double y2) {
  double val = sqrt((y2 - y1) * (y2 - y1) + (x2 - x1) * (x2 - x1));
  return val;
}
int main() {
  ios_base::sync_with_stdio(false);
  cin.tie(0);
  double R, x1, x2, y1, y2;
  cin >> R >> x1 >> y1 >> x2 >> y2;
  double d = dis(x1, y1, x2, y2);
  if (d >= R) {
    cout << x1 << " " << y1 << " " << R << endl;
  } else if (x1 == x2 and y1 == y2) {
    double px = x1 + R;
    double py = y1;
    px = (px + x1) / 2;
    py = (py + y1) / 2;
    printf("%0.10f %0.10f %0.10f\n", px, py, dis(px, py, x2, y2));
  } else {
    double m = d + R;
    double n = R;
    double px = (m * x1 - n * x2) / (m - n);
    double py = (m * y1 - n * y2) / (m - n);
    px = (px + x2) / 2;
    py = (py + y2) / 2;
    printf("%0.10f %0.10f %0.10f\n", px, py, dis(px, py, x2, y2));
  }
  return 0;
}
