#include <bits/stdc++.h>
using namespace std;
long long rr[] = {0, 1, 1, 1, 0, -1, -1, -1};
long long cc[] = {1, 1, 0, -1, -1, -1, 0, 1};
const long long mod = 1e9 + 7;
const long long N = 300050;
signed main() {
  ios_base::sync_with_stdio(false);
  cin.tie(NULL);
  cout.tie(NULL);
  ;
  long long test = 1;
  while (test--) {
    long double R, x1, x2, y1, y2;
    cin >> R >> x1 >> y1 >> x2 >> y2;
    long double r = sqrt((x2 - x1) * (x2 - x1) + (y2 - y1) * (y2 - y1));
    cout << fixed << setprecision(10);
    long double a = x2, b = y2, c = x1, d = y1;
    long double k1 = (c - a), k2 = (d - b);
    if (r >= R) {
      cout << x1 << ' ' << y1 << ' ' << R << '\n';
      return 0;
    }
    if (!k1 || !k2) {
      long double _R = (R + r) / 2;
      long double Y = d;
      long double X = c + (a > c ? -R : R);
      if (k1 == 0) {
        Y = d + (b > d ? -R : R);
        X = c;
      }
      long double _X = (X + a) / 2;
      long double _Y = (Y + b) / 2;
      cout << _X << ' ' << _Y << ' ' << _R << '\n';
    } else if (r < R) {
      long double _R = (R + r) / 2;
      long double k3 = r * r + 2 * R * r + c * c - a * a + d * d - b * b;
      long double k4 = -a * d + b * c;
      long double Y = (k2 * k3 + 2 * k1 * k4) / (2 * k1 * k1 + 2 * k2 * k2);
      long double X = (Y * k1 - k4) / k2;
      long double _X = (X + a) / 2;
      long double _Y = (Y + b) / 2;
      cout << _X << ' ' << _Y << ' ' << _R << '\n';
    }
  }
  return 0;
}
