#include <bits/stdc++.h>
using namespace std;
double papa(double x, double y) {
  double alpha = atan2(y, x);
  if (alpha < 0) alpha += 2 * 3.1415926535897932;
  return alpha;
}
int main() {
  cout << setprecision(9) << fixed;
  double r, x1, y1, x2, y2;
  cin >> r >> x1 >> y1 >> x2 >> y2;
  double d = sqrt((x1 - x2) * (x1 - x2) + (y1 - y2) * (y1 - y2));
  if (d >= r) {
    cout << x1 << " " << y1 << " " << r;
  } else {
    double xt = x1 - x2;
    double yt = y1 - y2;
    double ta = papa(xt, yt);
    xt = r * cos(ta);
    yt = r * sin(ta);
    double xt1 = (x2 - x1 + xt) / 2;
    double yt1 = (y2 - y1 + yt) / 2;
    double r1 = sqrt((xt - xt1) * (xt - xt1) + (yt - yt1) * (yt - yt1));
    cout << x1 + xt1;
    cout << " ";
    cout << y1 + yt1;
    cout << " ";
    cout << r1;
  }
}
