#include <bits/stdc++.h>
using namespace std;
double dist(long long x1, long long y1, long long x2, long long y2) {
  return sqrt((x1 - x2) * (x1 - x2) + (y1 - y2) * (y1 - y2));
}
int main() {
  long long r, x1, y1, x2, y2;
  double xa, ya, rr, dis;
  cin >> r >> x1 >> y1 >> x2 >> y2;
  if ((x1 - x2) * (x1 - x2) + (y1 - y2) * (y1 - y2) >= r * r) {
    cout << x1 << ' ' << y1 << ' ' << r << endl;
    return 0;
  }
  if (x1 == x2 && y1 == y2) {
    cout << double(r) / 2 + x1 << ' ' << y1 << ' ' << double(r) / 2 << endl;
    return 0;
  }
  dis = dist(x1, y1, x2, y2);
  rr = (double(r) + dis) / 2;
  xa = double(x1 - x2) * rr / dis + x2;
  ya = double(y1 - y2) * rr / dis + y2;
  cout << setprecision(20) << xa << ' ' << ya << ' ' << rr << endl;
  return 0;
}
