#include <bits/stdc++.h>
using namespace std;
long double dist(long double ax, long double ay, long double bx,
                 long double by) {
  return sqrt((ax - bx) * (ax - bx) + (ay - by) * (ay - by));
}
int main() {
  std::ios::sync_with_stdio(false);
  cin.tie(NULL);
  ;
  long double R, x1, y1, x2, y2;
  cin >> R >> x1 >> y1 >> x2 >> y2;
  if (dist(x1, y1, x2, y2) > R) {
    cout << x1 << " " << y1 << " " << R;
    return 0;
  }
  long double v1 = abs(x1 - x2);
  long double v2 = abs(y2 - y1);
  long double rad = dist(x1, y1, x2, y2) + R;
  rad /= 2;
  if (v1 != 0.0)
    v2 /= v1;
  else
    v2 = 0;
  long double yp;
  if (x1 == x2) {
    if (y2 >= y1)
      yp = y2 - rad;
    else
      yp = y2 + rad;
    cout << fixed << setprecision(8) << x1 << " " << yp << " " << rad;
    return 0;
  }
  long double cx = 0, cy = 0;
  long double l = 0, r = R, m;
  for (int inc = 0; inc < 1000; inc++) {
    m = (l + r) / 2;
    if (x2 >= x1)
      cx = x1 - m;
    else
      cx = x1 + m;
    if (y2 >= y1)
      cy = y1 - (m * v2);
    else
      cy = y1 + (m * v2);
    if (dist(cx, cy, x2, y2) > rad)
      r = m;
    else
      l = m;
  }
  cout << fixed << setprecision(8) << cx << " " << cy << " " << rad;
  return 0;
}
