#include <bits/stdc++.h>
using namespace std;
int main() {
  double r, x1, x2, x0, y1, y2, y0, R, k, m, a, b;
  cin >> r >> x0 >> y0 >> x1 >> y1;
  m = (x0 - x1) * (x0 - x1) + (y0 - y1) * (y0 - y1);
  if (m >= r * r) {
    printf("%.16lf %.16lf %.16lf\n", x0, y0, r);
    return 0;
  }
  if (x1 == x0) {
    x2 = x0;
    if (y1 > y0)
      y2 = (y1 + y0 - r) / 2;
    else
      y2 = (y1 + y0 + r) / 2;
  } else {
    k = (y1 - y0) / (x1 - x0);
    if (x1 < x0)
      a = x0 + sqrt(r * r / (k * k + 1));
    else
      a = x0 - sqrt(r * r / (k * k + 1));
    b = k * (a - x0) + y0;
    x2 = (a + x1) / 2;
    y2 = (b + y1) / 2;
  }
  R = (sqrt(m) + r) / 2;
  printf("%.16lf %.16lf %.16lf\n", x2, y2, R);
  return 0;
}
