#include <bits/stdc++.h>
using namespace std;
int main() {
  double r, R, x1, x2, y1, y2;
  cin >> R >> x1 >> y1 >> x2 >> y2;
  double dis;
  dis = sqrt((x1 - x2) * (x1 - x2) + (y1 - y2) * (y1 - y2));
  if (dis >= R) {
    printf("%.6lf %.6lf %.6lf", x1, y1, R);
    return 0;
  }
  r = dis + R;
  double x, y;
  if (dis == 0) {
    y = y1;
    x = x1 - r / 2;
  } else {
    x = (-x2 * R + r * x1) / dis;
    y = (-y2 * R + r * y1) / dis;
    x = (x + x2) / 2;
    y = (y + y2) / 2;
  }
  printf("%.6lf %.6lf %.6lf", x, y, r / 2);
}
