#include <bits/stdc++.h>
const double pi = acos(-1);
using namespace std;
int main() {
  double r, x1, x2, y1, y2;
  cin >> r >> x1 >> y1 >> x2 >> y2;
  double len = (x1 - x2) * (x1 - x2) + (y1 - y2) * (y1 - y2);
  if (len >= r * r)
    printf("%lf %lf %lf\n", x1, y1, r);
  else if (x1 == x2 && y1 == y2)
    printf("%lf %lf %lf\n", x1 + r / 2.0, y1, r / 2.0);
  else {
    double R = (sqrt(len) + r) / 2;
    double x = (x1 - x2) * R / sqrt(len) + x2;
    double y = (y1 - y2) * R / sqrt(len) + y2;
    printf("%lf %lf %lf\n", x, y, R);
  }
  return 0;
}
