#include <bits/stdc++.h>
using namespace std;
double dist(double x1, double y1, double x2, double y2) {
  double a = (x1 - x2) * (x1 - x2);
  double b = (y1 - y2) * (y1 - y2);
  return a + b;
}
int main() {
  double x1, y1, x2, y2, r;
  cin >> r >> x2 >> y2 >> x1 >> y1;
  double angle = atan2(y2 - y1, x2 - x1);
  double x = x2 + r * cos(angle);
  double y = y2 + r * sin(angle);
  double a1 = (x1 + x) / 2.0;
  double a2 = (y1 + y) / 2.0;
  double r2 = sqrt(dist(a1, a2, x1, y1));
  if (sqrt(dist(x1, y1, x2, y2)) >= r) {
    a1 = x2;
    a2 = y2;
    r2 = r;
  }
  cout << fixed << setprecision(15) << a1 << " " << a2 << " " << r2 << endl;
  return 0;
}
