Fluctuating voltage value in print console

That is quite simple:

#define NUM_READINGS 5
uint16_t readings[NUM_READINGS];
uint8_t readings_idx = 0;

store_reading(value) {
  readings[reading_idx++] = value;
  if (reading_idx >= NUM_READINGS) reading_idx = 0;
}

get_average {
  uint32_t result = 0;
  for (uint8_t i = 0; i < NUM_READINGS; i++) result += readings[i];
  return result / NUM_READINGS;
}