#include <bits/stdc++.h>
using namespace std;
void solve() {
  long long r, a, b, c, d;
  cin >> r >> a >> b >> c >> d;
  if ((c - a) * (c - a) + (b - d) * (b - d) >= r * r) {
    cout << fixed << setprecision(20) << a << " " << b << " " << r << "\n";
    return;
  }
  double x1 = a + (r * (c - a)) / sqrt((c - a) * (c - a) + (d - b) * (d - b));
  double x2 = a - (r * (c - a)) / sqrt((c - a) * (c - a) + (d - b) * (d - b));
  double y1 = b + ((d - b) * (x1 - a)) / (double)(c - a);
  double y2 = b + ((d - b) * (x2 - a)) / (double)(c - a);
  if (a == c) {
    x1 = a;
    y1 = sqrt(r * r) + b;
    x2 = a;
    y2 = -sqrt(r * r) + b;
  }
  if (b == d) {
    y1 = b;
    y2 = b;
    x1 = sqrt(r * r) + a;
    x2 = -sqrt(r * r) + a;
  }
  double d1 = sqrt((x1 - c) * (x1 - c) + (y1 - d) * (y1 - d));
  double d2 = sqrt((x2 - c) * (x2 - c) + (y2 - d) * (y2 - d));
  if (d2 > d1) {
    swap(x1, x2);
    swap(y1, y2);
    swap(d1, d2);
  }
  double mx = (x1 + c) / 2;
  double my = (y1 + d) / 2;
  cout << fixed << setprecision(20) << mx << " " << my << " " << d1 / 2 << "\n";
}
int32_t main() {
  ios_base::sync_with_stdio(false);
  cin.tie(0);
  long long t = 1;
  while (t--) solve();
}
