#include<bits/stdc++.h>
using namespace std;
int main()
{
double r, x1, y1, x2, y2;
cin >> r >> x1 >> y1 >> x2 >> y2;
double R, x, y;
double d1 = (x2 - x1)*(x2 - x1) + (y2 - y1)*(y2 - y1);
double len = d1;
if (len >= r * r)
printf("%lf %lf %lf\n", x1, y1, r);
else if (x1 == x2 && y1 == y2)
printf("%lf %lf %lf\n", x1 + r / 2, y1, r / 2);
else {
d1 = sqrt(d1);
double D = d1 + r;//
//d1 = 0.5*d1;
//cout << D *0.5<< endl;
R = D * 0.5;
double cd = (x1 - x2)*R / sqrt(len);
//cout << cd << endl;
double de = (y1 - y2) * R / sqrt(len);
//cout << de << endl;
printf("%lf %lf %lf", cd + x2, de + y2, R);
}
return 0;
}